On the performance of the Box Particle Filter for extended object tracking using laser data

On the performance of the Box Particle Filter for extended object tracking using laser data

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...

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Bibliographic Details
Published in:2012 Workshop on Sensor Data Fusion: Trends, Solutions, Applications (SDF) pp. 19 - 24
Main Authors: Petrov, N., Ulmke, M., Mihaylova, L., Gning, A., Schikora, M., Wieneke, M., Koch, W.
Format: Conference Proceeding
Language:English
Published: IEEE 01-09-2012
Subjects:
Atmospheric measurements
Particle measurements
Shape
Target tracking
Time measurement
Uncertainty
Vectors
Online Access:Get full text
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Summary: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.
ISBN:1467330108
9781467330107
DOI:10.1109/SDF.2012.6327902