A track-before-detect approach for extended target tracking in multi-lidar systems using a low-level centralized fusion framework

This paper presents a new method of multiple object tracking in a multisensor lidar context. One of the difficulties of scanning laser range finders (LRF) lies in the measurements of the objects since they are spatially distributed. We propose a tracking method (MF-IP-SMC), which uses the LRF data f...

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Bibliographic Details
Main Authors: Fortin, B., Lherbier, R., Noyer, J. C.
Format: Conference Proceeding
Language:English
Subjects:
Atmospheric measurements
extended target tracking
Laser fusion
Measurement by laser beam
multisensor fusion
Radar tracking
scanning laser range finder
Sensors
sequential Monte Carlo methods
Target tracking
track-before-detect
Vehicles
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Summary:This paper presents a new method of multiple object tracking in a multisensor lidar context. One of the difficulties of scanning laser range finders (LRF) lies in the measurements of the objects since they are spatially distributed. We propose a tracking method (MF-IP-SMC), which uses the LRF data from a clustering stage (IP method) which avoids the usual detection step. This step is indeed source of detection problems or false alarm. The MF-IP-SMC approach is then validated on multilidar sequences of vehicles on road. A comparison with reference methods in vehicle tracking is then presented in order to quantify the contribution of the proposed solution.