단일 레이저 스캐너와 Integrated Probabilitic Data Association Filter를 이용한 도심환경에서의 다중 차량추적
- Title
- 단일 레이저 스캐너와 Integrated Probabilitic Data Association Filter를 이용한 도심환경에서의 다중 차량추적
- Author
- 선우명호
- Keywords
- 차량추적; IPDAF, 통합 확률기반 자료결합 필터; 특징 추출; 레이저 스캐너; Vehicle tracking; Integrated Probabilistic Data Association Filter; Feature extraction; Laser scanner
- Issue Date
- 2013-07
- Publisher
- 한국자동차공학회
- Citation
- 한국자동차공학회논문집, 2013, 21(4), P.33-42
- Abstract
- This paper describes a multiple vehicle tracking algorithm using an integrated probabilistic data association filter (IPDAF) in urban environments. The algorithm consists of two parts; a pre-processing stage and an IPDA tracker. In the pre-processing stage, measurements are generated by a feature extraction method that manipulates raw data into predefined geometric features of vehicles as lines and boxes. After that, the measurements are divided into two different objects, dynamic and static objects, by using information of ego-vehicle motion. The IPDA tracker estimates not only states of tracks but also existence probability recursively. The existence probability greatly assists reliable initiation and termination of track in cluttered environment. The algorithm was validated by using experimental data which is collected in urban environment by using single laser scanner.
- URI
- http://koreascience.or.kr/article/ArticleFullRecord.jsp?cn=JDCGCC_2013_v21n4_33http://hdl.handle.net/20.500.11754/52092
- ISSN
- 1225-6382
- DOI
- 10.7467/KSAE.2013.21.4.033
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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