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Extended Object Tracking Using Hierarchical Truncation Measurement Model with Automotive Radar | IEEE Conference Publication | IEEE Xplore

Extended Object Tracking Using Hierarchical Truncation Measurement Model with Automotive Radar


Abstract:

Motivated by real-world automotive radar measurements that are distributed around object (e.g., vehicles) edges with a certain volume, a novel hierarchical truncated Gaus...Show More

Abstract:

Motivated by real-world automotive radar measurements that are distributed around object (e.g., vehicles) edges with a certain volume, a novel hierarchical truncated Gaussian measurement model is proposed to resemble the underlying spatial distribution of radar measurements. With the proposed measurement model, a modified random matrix-based extended object tracking algorithm is developed to estimate both kinematic and extent states. In particular, a new state update step and an online bound estimation step are proposed with the introduction of pseudo measurements. The effectiveness of the proposed algorithm is verified in simulations.
Date of Conference: 04-08 May 2020
Date Added to IEEE Xplore: 09 April 2020
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Conference Location: Barcelona, Spain

References

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