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L-Shape Model Switching-Based Precise Motion Tracking of Moving Vehicles Using Laser Scanners

Title
L-Shape Model Switching-Based Precise Motion Tracking of Moving Vehicles Using Laser Scanners
Author
선우명호
Keywords
Vehicle tracking; L-shape model; modeling switching filter; laser scanner
Issue Date
2018-02
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation
IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, v. 19, no. 2, page. 598-612
Abstract
Detection and tracking of moving objects is one of the most essential functions of autonomous cars. In order to estimate the dynamic information of a moving object accurately, laser scanners are widely used for their highly accurate distance data. However, these data only represent the surface of an object facing the sensor and changes the appearance of an object over time. This change produces unexpected tracking errors of estimated dynamic states. In this paper, in order to minimize the tracking error caused by appearance changes, a tracking algorithm based on L-shaped model switching is proposed. The suggested algorithm is validated in real traffic experiments where position, velocity, and heading angle error were measured by using precise GPS. The L-shape tracking algorithm successfully mitigated the effect of appearance changes and improved estimation performance.
URI
https://ieeexplore.ieee.org/document/8168365http://repository.hanyang.ac.kr/handle/20.500.11754/117573
ISSN
1524-9050; 1558-0016
DOI
10.1109/TITS.2017.2771820
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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