車両追跡のための経路割り当て手法
Path Assignment Techniques For Vehicle Tracking
ACCなどの運転支援システム向けに、検出車両を自車の走行経路や隣接経路へ割り当てる2つの手法を提案し、実験データと正解ラベルを用いたROCで性能を比較した論文。
著者: Richard Altendorfer, Sebastian Wirkert
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Many driver assistance systems such as Adaptive Cruise Control require the identification of the closest vehicle that is in the host vehicle's path. This entails an assignment of detected vehicles to the host vehicle path or neighboring paths. After reviewing approaches to the estimation of the host vehicle path and lane assignment techniques we introduce two methods that are motivated by the rationale to filter measured data as late in the processing stages as possible in order to avoid delays and other artifacts of intermediate filters. These filters generate discrete posterior probability distributions from which a path or "lane" index is extracted by a median estimator. The relative performance of those methods is illustrated by a ROC using experimental data and labeled ground truth data.
