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  4. Spacial Elliptical Model for Extended Target Tracking Using Laser Measurements
 
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2019
Conference Paper
Title

Spacial Elliptical Model for Extended Target Tracking Using Laser Measurements

Abstract
This paper presents an approach for tracking extended targets using measurements from Light Detection and Ranging (LiDAR), where the measurement's source is distributed on the contour of the target extent. An Extended Kalman Filter (EKF) is used to estimate the target kinematic and shape simultaneously. The target shape is represented by an ellipse and the measurement's source is distributed uniformly on the contour of the ellipse. A Gaussian mixture is used to approximate the measurement likelihood. The EKF update incorporates a moment matching technique to approximate the mixture density. Data from an Ibeo LiDAR simulator is used to evaluate the performance of the proposed approach on tracking a target with a rectangular shape.
Author(s)
Alqaderi, Hosam
Govaers, Felix  
Schulz, Raymond
Mainwork
Symposium on Sensor Data Fusion: Trends, Solutions, Applications, SDF 2019  
Conference
Symposium on Sensor Data Fusion - Trends, Solutions, Applications (SDF) 2019  
DOI
10.1109/SDF.2019.8916634
Language
English
Fraunhofer-Institut für Kommunikation, Informationsverarbeitung und Ergonomie FKIE  
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