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  4. Applying Extended Object Tracking for Self-Localization of Roadside Radar Sensors
 
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2024
Conference Paper
Title

Applying Extended Object Tracking for Self-Localization of Roadside Radar Sensors

Abstract
Intelligent Transportation Systems (ITS) can benefit from roadside 4D mmWave radar sensors for large-scale traffic monitoring due to their weatherproof functionality, long sensing range and low manufacturing cost. However, the localization method using external measurement devices has limitations in urban environments. Furthermore, if the sensor mount exhibits changes due to environmental influences, they cannot be corrected when the measurement is performed only during the installation. In this paper, we propose selflocalization of roadside radar data using Extended Object Tracking (EOT). The method analyses both the tracked trajectories of the vehicles observed by the sensor and the aerial laser scan of city streets, assigns labels of driving behaviors such as "straight ahead", "left turn", "right turn" to trajectory sections and road segments, and performs Semantic Iterative Closest Points (SICP) algorithm to register the point cloud. The method exploits the result from a down stream task - object tracking - for localization. We demonstrate high accuracy in the sub-meter range along with very small orientation error. The method also shows good data efficiency. The evaluation is done in both simulation and real-world tests.
Author(s)
Han, Longfei
Fraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI  
Xu, Qiuyu
Fraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI  
Kefferpütz, Klaus
Fraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI  
Elger, Gordon  
Fraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI  
Beyerer, Jürgen  
Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung IOSB  
Mainwork
IEEE 27th International Conference on Intelligent Transportation Systems, ITSC 2024  
Conference
International Conference on Intelligent Transportation Systems 2024  
Open Access
DOI
10.1109/ITSC58415.2024.10920198
Language
English
Fraunhofer-Institut für Optronik, Systemtechnik und Bildauswertung IOSB  
Fraunhofer-Institut für Verkehrs- und Infrastruktursysteme IVI  
Keyword(s)
  • Location awareness

  • Point cloud compression

  • Laser radar

  • Urban areas

  • Radar tracking

  • Trajectory

  • Registers

  • Object tracking

  • Driver behavior

  • Intelligent transportation systems

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