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dc.contributor.author선우명호-
dc.date.accessioned2019-12-05T14:34:36Z-
dc.date.available2019-12-05T14:34:36Z-
dc.date.issued2018-02-
dc.identifier.citationIEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, v. 19, no. 2, page. 598-612en_US
dc.identifier.issn1524-9050-
dc.identifier.issn1558-0016-
dc.identifier.urihttps://ieeexplore.ieee.org/document/8168365-
dc.identifier.urihttp://repository.hanyang.ac.kr/handle/20.500.11754/117573-
dc.description.abstractDetection 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.en_US
dc.description.sponsorshipThis work was supported in part by the BK21 Plus Program through the Ministry of Education, South Korea, under Grant 22A20130000045, in part by the Industrial Strategy Technology Development Program under Grant 10039673, Grant 10060068, and Grant 10042633, in part by the System Industrial Strategic Technology Development Program under Grant 10079961, in part by the International Collaborative Research and Development Program through the Ministry of Trade, Industry and Energy (MOTIE Korea) under Grant N0001992, and in part by the Energy Resource Research and Development Program through the Ministry of Knowledge Economy, South Korea, under Grant 2006ETR11P091C.en_US
dc.language.isoen_USen_US
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INCen_US
dc.subjectVehicle trackingen_US
dc.subjectL-shape modelen_US
dc.subjectmodeling switching filteren_US
dc.subjectlaser scanneren_US
dc.titleL-Shape Model Switching-Based Precise Motion Tracking of Moving Vehicles Using Laser Scannersen_US
dc.typeArticleen_US
dc.relation.no2-
dc.relation.volume19-
dc.identifier.doi10.1109/TITS.2017.2771820-
dc.relation.page598-612-
dc.relation.journalIEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS-
dc.contributor.googleauthorKim, Dongchul-
dc.contributor.googleauthorJo, Kichun-
dc.contributor.googleauthorLee, Minchul-
dc.contributor.googleauthorSunwoo, Myoungho-
dc.relation.code2018001156-
dc.sector.campusS-
dc.sector.daehakCOLLEGE OF ENGINEERING[S]-
dc.sector.departmentDEPARTMENT OF AUTOMOTIVE ENGINEERING-
dc.identifier.pidmsunwoo-
dc.identifier.orcidhttps://orcid.org/0000-0002-3505-6675-
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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