A tracking system for tracking an expanded state of an object is provided. The tracking system executes, for a predetermined time period, a probabilistic filter that iteratively tracks a belief on the expanded state of the object, wherein the belief is predicted using a motion model of the object and is further updated using a compound measurement model of the object. After the predetermined time period, the updated beliefs are smoothed to generate a state-decoupled online batch of training data. The compound measurement model includes multiple probabilistic distributions constrained to lie around a contour of the object with a predetermined relative geometrical mapping to the center of the object. The compound measurement model is updated using the online batch of training data. Further, the tracking system tracks the expanded state of the object based on the updated compound measurement model.
System and Method for Tracking an Expanded State of a Moving Object Using an Online Adapted Compound Measurement Model
2023-05-04
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
System and Method for Tracking Expanded State of Moving Object with Model Geometry Learning
Europäisches Patentamt | 2021
|System and method for tracking expanded state of moving object with model geometry learning
Europäisches Patentamt | 2024
|Online Localization and Mapping with Moving Object Tracking in Dynamic Outdoor Environments
British Library Conference Proceedings | 2007
|Moving object tracking in video
IEEE | 2000
|