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

Petrov, Nikolay and Ulmke, Martin and Mihaylova, Lyudmila and Gning, Amadou and Schikora, Marek and Wieneke, Monika and Koch, Wofgang (2012) On the Performance of the Box Particle Filter for Extended Object Tracking Using Laser Data. In: Sensor Data Fusion: Trends, Solutions, Applications (SDF), 2012 Workshop on. IEEE, DEU, pp. 19-24. ISBN 978-1-4673-3010-7

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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.

Item Type:
Contribution in Book/Report/Proceedings
Uncontrolled Keywords:
/dk/atira/pure/researchoutput/libraryofcongress/qa75
Subjects:
ID Code:
57788
Deposited By:
Deposited On:
28 Aug 2012 13:00
Refereed?:
Yes
Published?:
Published
Last Modified:
02 Jul 2020 05:51