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On the performance of the box particle filter for extended object tracking using laser data

 
: Petrov, N.; Ulmke, M.; Mihaylova, L.; Gning, A.; Schikora, M.; Wieneke, M.; Koch, W.

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IEEE Aerospace and Electronic Systems Society -AESS-; International Society of Information Fusion -ISIF-:
Workshop on Sensor Data Fusion. Trends, Solutions, Applications, SDF 2012 : 4-6 September 2012, Bonn, Germany
Piscataway, NJ: IEEE, 2012
ISBN: 978-1-4673-3011-4
ISBN: 978-1-4673-3010-7
pp.19-24
Workshop on Sensor Data Fusion (SDF) <2012, Bonn>
English
Conference Paper
Fraunhofer FKIE ()

Abstract
This paper considers the challenging task of realtime 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.

: http://publica.fraunhofer.de/documents/N-234824.html