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Title:

Grid-Based Object Tracking with Nonlinear Dynamic State and Shape Estimation

Document type:
Zeitschriftenaufsatz
Author(s):
Steyer, Sascha; Lenk, Christian; Kellner, Dominik; Tanzmeister, Georg; Wollherr, Dirk
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
Fulltext / DOI:
doi:10.1109/TITS.2019.2921248
Publisher:
IEEE
Semester:
SS 19
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