An important foundation for various vehicular applications is a reliable environment recognition. In this context, the simultaneous estimation of the state and the existence of an unknown number of objects under difficult detection conditions is a particular challenge. In this paper, we propose an algorithm for tracking extended objects under clutter. We propose an extended measurement model which enables the estimation of the object width using a standard Kalman filter implementation without the need for clustering the data. As this implies multiple observations generated by one object and additional clutter observations, the generalized probabilistic data association with a state-depended cardinality model is utilized. The proposed algorithm is evaluated with simulated data of a radar-based vehicle tracking system.
Radar-based extended object tracking under clutter using generalized probabilistic data association
2013-10-01
357388 byte
Conference paper
Electronic Resource
English
Generalized Probabilistic Data Association for Vehicle Tracking under Clutter
British Library Conference Proceedings | 2012
|Generalized radar clutter model
IEEE | 1999
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