A PHD approach for multiple vehicle tracking based on a polar detection method in laser range data

This paper presents a detection and tracking approach of multiple vehicles in scanning laser range data. The proposed solution relies on a new detection method based on object geometric invariant that uses the raw measurements directly in polar coordinates. The multitarget management problem is solv...

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Bibliographic Details
Main Authors: Fortin, B., Lherbier, R., Noyer, J. C.
Format: Conference Proceeding
Language:English
Subjects:
Equations
Estimation
Mathematical model
Measurement by laser beam
Sensors
Target tracking
Vehicles
Online Access:Request full text
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Description
Summary:This paper presents a detection and tracking approach of multiple vehicles in scanning laser range data. The proposed solution relies on a new detection method based on object geometric invariant that uses the raw measurements directly in polar coordinates. The multitarget management problem is solved in the PHD framework by a particle filter.
DOI:10.1109/SysCon.2013.6549892