Bスプライン形状モデルに基づく3次元拡張物体追跡の分散融合
Decentralized Fusion of 3D Extended Object Tracking based on a B-Spline Shape Model
Bスプライン曲線で物体の側面形状を表現し3D形状を生成する拡張物体追跡に対し、共分散交差法を用いた分散融合を適用し、交通シナリオのシミュレーションと実データで追跡性能の向上を実証した論文。
著者: Longfei Han, Klaus Kefferpütz, Jürgen Beyerer
分類: cs.RO
原文アブストラクト
Extended Object Tracking (EOT) exploits the high resolution of modern sensors for detailed environmental perception. Combined with decentralized fusion, it contributes to a more scalable and robust perception system. This paper investigates the decentralized fusion of 3D EOT using a B-spline curve based model. The spline curve is used to represent the side-view profile, which is then extruded with a width to form a 3D shape. We use covariance intersection (CI) for the decentralized fusion and discuss the challenge of applying it to EOT. We further evaluate the tracking result of the decentralized fusion with simulated and real datasets of traffic scenarios. We show that the CI-based fusion can significantly improve the tracking performance for sensors with unfavorable perspective.
