Empirical evolution of motion models for a side-looking driver assistance system

If sensors monitor the area in front of a road vehicle, then object tracking can be performed using simplified motion models. However, in certain cases, more sophisticated motion models are required. In this paper, we empirically evaluate the suitability of six different motion models for tracking vehicles detected by a side looking stereo camera system. For our investigations we used data from both an indoor data collection and field tests in regular traffic.