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Extended Target Tracking Using Polynomials With Applications to Road-Map Estimation
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2010 (English)Report (Other academic)
Abstract [en]

This paper presents an extended target tracking framework which uses polynomials in order to model extended objects in the scene of interest from imagery sensor data. State-space models are proposed for the extended objects which enables the use of Kalman filters in tracking. Different methodologies of designing measurement equations are investigated. A general target tracking algorithm that utilizes a specific data association method for the extended targets is presented. The overall algorithm must always use some form of prior information in order to detect and initialize extended tracks from the point tracks in the scene. This aspect of the problem is illustrated on a real life example of road-map estimation from automotive radar reports along with the results of the study.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2010. , 14 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2982
Keyword [en]
Automotive radar- -EIV--Data association--Errors in output--Errors in variables--Extended target tracking--Parabola--Polynomial--Road map
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-97736ISRN: LiTH-ISY-R-2982OAI: oai:DiVA.org:liu-97736DiVA: diva2:650652
Projects
IVSS - SEFSSSF - MOVIII
Funder
Swedish Foundation for Strategic Research
Available from: 2013-09-23 Created: 2013-09-23 Last updated: 2014-09-01Bibliographically approved

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Lundquist, ChristianGustafsson, Fredrik

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf