Submitted manuscript, 320 KB, PDF document
Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
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TY - GEN
T1 - On the Performance of the Box Particle Filter for Extended Object Tracking Using Laser Data
AU - Petrov, Nikolay
AU - Ulmke, Martin
AU - Mihaylova, Lyudmila
AU - Gning, Amadou
AU - Schikora, Marek
AU - Wieneke, Monika
AU - Koch, Wofgang
PY - 2012/9/1
Y1 - 2012/9/1
N2 - 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.
AB - 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.
KW - Box particle filter
KW - extended objects
KW - tracking
U2 - 10.1109/SDF.2012.6327902
DO - 10.1109/SDF.2012.6327902
M3 - Conference contribution/Paper
SN - 978-1-4673-3010-7
SP - 19
EP - 24
BT - Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2012 Workshop on
PB - IEEE
T2 - IEEE Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF)
Y2 - 4 September 2012 through 6 September 2012
ER -