한국자동차공학회논문집 (Transactions of the Korean Society of Automotive Engineers)

  • 제21권4호
  • /
  • Pages.33-42
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  • 2013
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  • 1225-6382(pISSN)
  • /
  • 2234-0149(eISSN)
한국자동차공학회 (The Korean Society of Automotive Engineers)
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단일 레이저 스캐너와 Integrated Probabilistic Data Association Filter를 이용한 도심환경에서의 다중 차량추적

Multiple Vehicle Tracking in Urban Environment using Integrated Probabilistic Data Association Filter with Single Laser Scanner

  • Kim, Dongchul (Department of Automotive Engineering, Graduate School, Hanyang University) ;
  • Han, Jaehyun (Advanced Electronics, Electronics R&D Center, Mando Global R&D Division) ;
  • Sunwoo, Myoungho (Department of Automotive Engineering, Hanyang University)
  • 투고 : 2012.02.02
  • 심사 : 2012.12.18
  • 발행 : 2013.07.01
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초록

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.

키워드

참고문헌

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피인용 문헌

  1. A probabilistic optimization approach for motion planning of autonomous vehicles vol.232, pp.5, 2018, https://doi.org/10.1177/0954407017704782