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On the Performance of the Box Particle Filter for Extended Object Tracking Using Laser Data

Research output: Contribution in Book/Report/ProceedingsPaper

Published

Publication date1/09/2012
Host publicationSensor Data Fusion: Trends, Solutions, Applications (SDF), 2012 Workshop on
PublisherIEEE
Pages19-24
Number of pages6
ISBN (Print)978-1-4673-3010-7
Original languageEnglish

Conference

ConferenceIEEE Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF)
CountryGermany
CityBonn
Period4/09/126/09/12

Conference

ConferenceIEEE Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF)
CountryGermany
CityBonn
Period4/09/126/09/12

Abstract

This paper considers the challenging task of real time extended object tracking using cluttered measurements from laser range scanners. The performance of the recently proposed Box Particle Filter (Box PF) algorithm is evaluated utilising real measurements from laser range scanners obtained within a prototype security system replicating an airport corridor. The problem is expressed as the joint estimation of both state and parameters of an extended target. Circularly and elliptically shaped targets are considered. Promising results are presented.