liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
A multiple model PHD approach to tracking of cars under an assumed rectangular shape
Linköping University, Department of Electrical Engineering. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-3450-988X
University of Ulm, Germany.
University of Ulm, Germany.
University of Ulm, Germany.
2014 (English)In: 2014 17TH INTERNATIONAL CONFERENCE ON INFORMATION FUSION (FUSION), IEEE , 2014Conference paper (Refereed)Text
Abstract [en]

This paper presents an extended target tracking method for tracking cars in urban traffic using data from laser range sensors. Results are presented for three real world datasets that contain multiple cars, occlusions, and maneuver changes. The cars shape is approximated by a rectangle, and single track steering models are used for the target kinematics. A multiple model approach is taken for both the dynamics modeling and the measurement modeling. A comparison to ground truth shows that the estimation errors are generally very small: on average the absolute error is less than half a degree for the heading. Multiple cars are handled using a multiple model PHD filter, where a variable probability of detection is integrated to enable tracking of occluded cars.

Place, publisher, year, edition, pages
IEEE , 2014.
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:liu:diva-123343ISI: 000363896100022OAI: oai:DiVA.org:liu-123343DiVA: diva2:881749
Conference
17th International Conference on Information Fusion (FUSION)
Available from: 2015-12-11 Created: 2015-12-11 Last updated: 2015-12-11

Open Access in DiVA

No full text

Search in DiVA

By author/editor
Granström, Karl
By organisation
Department of Electrical EngineeringFaculty of Science & Engineering
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 13 hits
ReferencesLink to record
Permanent link

Direct link