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Extended object tra...
Extended object tracking using hierarchical truncation model with partial-view measurements
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- Xia, Yuxuan, 1993 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Wang, Pu (author)
- Mitsubishi Electric Research Laboratories
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- Berntorp, Karl (author)
- Mitsubishi Electric Research Laboratories
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- Mansour, Hassan (author)
- Mitsubishi Electric Research Laboratories
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- Boufounos, Petros (author)
- Mitsubishi Electric Research Laboratories
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- Orlik, Philip V. (author)
- Mitsubishi Electric Research Laboratories
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(creator_code:org_t)
- 2020
- 2020
- English.
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In: Proceedings of the IEEE Sensor Array and Multichannel Signal Processing Workshop. - 2151-870X. ; 2020 June
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Abstract
Subject headings
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- This paper introduces the hierarchical truncated Gaussian model in representing automotive radar measurements for extended object tracking. The model aims at a flexible spatial distribution with adaptive truncation bounds to account for partial-view measurements caused by self-occlusion. Built on a random matrix approach, we propose a new state update step together with an adaptively update of the truncation bounds. This is achieved by introducing spatial-domain pseudo measurements and by aggregating partial-view measurements over consecutive time-domain scans. The effectiveness of the proposed algorithm is verified on a synthetic dataset and an independent dataset generated using the MathWorks Automated Driving toolbox.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Inbäddad systemteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Embedded Systems (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)
Keyword
- autonomous driving
- object tracking
- random matrix
- Bayesian filtering
- Automotive radar
- extended object
Publication and Content Type
- kon (subject category)
- ref (subject category)
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