This paper proposes fast and novel methods to jointly estimate the target’s unknown 3D shape and dynamics. Measurements are noisy and sparsely distributed 3D points from a light detection and ranging (LiDAR) sensor. The methods utilize non-uniform rational B-splines (NURBS) surfaces to approximate the target’s shape. One method estimates Cartesian scaling parameters of a NURBS surface, whereas the second method estimates the corresponding NURBS weights, too. Major advantages are the capability of estimating a fully 3D shape as well as the fast processing time. Real-world evaluations with a static and dynamic vehicle show promising results compared to state-of-the-art 3D extended target tracking algorithms.


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    Title :

    Fast 3D Extended Target Tracking using NURBS Surfaces


    Contributors:


    Publication date :

    2019-10-01


    Size :

    980176 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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