基于激光距离数据极坐标检测的多车PHD跟踪方法

2013 IEEE International Systems Conference (SysCon) Pub Date : 2013-04-15 DOI:10.1109/SysCon.2013.6549892

B. Fortin, R. Lherbier, J. Noyer

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引用次数: 9

摘要

提出了一种多车辆扫描激光测距数据的检测与跟踪方法。该方法基于一种新的基于物体几何不变量的检测方法，该方法直接利用极坐标下的原始测量值。在PHD框架中，通过粒子滤波解决了多目标管理问题。

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A PHD approach for multiple vehicle tracking based on a polar detection method in laser range data

This paper presents a detection and tracking approach of multiple vehicles in scanning laser range data. The proposed solution relies on a new detection method based on object geometric invariant that uses the raw measurements directly in polar coordinates. The multitarget management problem is solved in the PHD framework by a particle filter.

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来源期刊

2013 IEEE International Systems Conference (SysCon)

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