Decentralized Poisson Multi-Bernoulli Filtering for Vehicle Tracking
Artikel i vetenskaplig tidskrift, 2020
A decentralized Poisson multi-Bernoulli filter is proposed to track multiple vehicles using multiple high-resolution sensors. Independent filters estimate the vehicles' presence, state, and shape using a Gaussian process extent model; a decentralized filter is realized through fusion of the filters posterior densities. An efficient implementation is achieved by parametric state representation, utilization of single hypothesis tracks, and fusion of vehicle information based on a fusion mapping. Numerical results demonstrate the performance.
Gaussian processes
target extent
posterior fusion
multitarget tracking
Författare
Markus Fröhle
Zenuity AB
Karl Granström
Embark Trucks Inc.
Chalmers, Elektroteknik, Signalbehandling och medicinsk teknik
Henk Wymeersch
Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk
IEEE Access
2169-3536 (ISSN) 21693536 (eISSN)
Vol. 8 126414-126427 9136678COPPLAR CampusShuttle cooperative perception & planning platform
VINNOVA (2015-04849), 2016-01-01 -- 2018-12-31.
Ämneskategorier
Farkostteknik
Signalbehandling
Datorseende och robotik (autonoma system)
DOI
10.1109/ACCESS.2020.3008007