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Document type:
Zeitschriftenaufsatz 
Author(s):
Steyer, S.; Lenk, C.; Kellner, D.; Tanzmeister, G.; Wollherr, D. 
Title:
Grid-Based Object Tracking with Nonlinear Dynamic State and Shape Estimation 
Abstract:
Object tracking is crucial for planning safe maneuvers of mobile robots in dynamic environments, in particular for autonomous driving with surrounding traffic participants. Multi-stage processing of sensor measurement data is thereby required to obtain abstracted high-level objects, such as vehicles. This also includes sensor fusion, data association, and temporal filtering. Often, an early-stage object abstraction is performed, which, however, is critical, as it results in information loss rega...    »
 
Keywords:
Autonomous vehicles, dynamic occupancy grids, environment perception, object detection, object tracking, radar Doppler measurements, shape estimation, state estimation 
Journal title:
IEEE Transactions on Intelligent Transportation Systems 
Year:
2019 
Year / month:
2019-06 
Month:
Jun 
Pages contribution:
1–20 
Reviewed:
ja 
Language:
en 
Publisher:
IEEE 
Semester:
SS 19