LiDAR点群を用いた確率的測定領域関連付けによる複数車両追跡
LiDAR Point Cloud-based Multiple Vehicle Tracking with Probabilistic Measurement-Region Association
LiDAR点群から車両を追跡するため、目標の広がりを領域分割して測定分布を表現する確率的測定領域関連付け(PMRA)モデルを提案し、PMBMフィルタと統合して複数車両追跡の精度を向上させた。
著者: Guanhua Ding, Jianan Liu, Yuxuan Xia, Tao Huang, Bing Zhu, Jinping Sun
分類: eess.SP, cs.RO
原文アブストラクト
Multiple extended target tracking (ETT) has gained increasing attention due to the development of high-precision LiDAR and radar sensors in automotive applications. For LiDAR point cloud-based vehicle tracking, this paper presents a probabilistic measurement-region association (PMRA) ETT model, which can describe the complex measurement distribution by partitioning the target extent into different regions. The PMRA model overcomes the drawbacks of previous data-region association (DRA) models by eliminating the approximation error of constrained estimation and using continuous integrals to more reliably calculate the association probabilities. Furthermore, the PMRA model is integrated with the Poisson multi-Bernoulli mixture (PMBM) filter for tracking multiple vehicles. Simulation results illustrate the superior estimation accuracy of the proposed PMRA-PMBM filter in terms of both positions and extents of the vehicles comparing with PMBM filters using the gamma Gaussian inverse Wishart and DRA implementations.
