A Model-Based Joint Detection and Tracking Approach for Multi-Vehicle Tracking With Lidar Sensor

This paper presents a method for joint detection and tracking of vehicles with a scanning laser rangefinder. The lidar measurements of an object have the particularity to be spatially distributed, which generally leads to a detection step before any tracking. Differently, the proposed method relies...

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Bibliographic Details
Published in:	IEEE transactions on intelligent transportation systems 2015-08, Vol.16 (4), p.1883-1895
Main Authors:	Fortin, Benoit, Lherbier, Regis, Noyer, Jean-Charles
Format:	Article
Language:	eng
Subjects:	advanced driver assistance systems Automatic Computer Science Engineering Sciences Equations Extended target tracking Laser radar Mathematical model Measurement by laser beam Radar tracking scanning laser range finder sequential Monte Carlo methods Signal and Image Processing Target tracking track-before-detect Vehicles
Online Access:	Get full text
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Summary:	This paper presents a method for joint detection and tracking of vehicles with a scanning laser rangefinder. The lidar measurements of an object have the particularity to be spatially distributed, which generally leads to a detection step before any tracking. Differently, the proposed method relies on the raw measurement processing without any detection step, which improves the overall performance in multiobject tracking while providing good estimation accuracies. The solution uses the sequential Monte Carlo methods by incorporating the geometric invariant of the objects of interest (vehicles). This approach also offers an efficient solution to the problem of multitarget tracking by integrating naturally the track management in the filtering process.
ISSN:	1524-9050 1558-0016