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http://dx.doi.org/10.7467/KSAE.2013.21.4.033

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)
Publication Information
Transactions of the Korean Society of Automotive Engineers / v.21, no.4, 2013 , pp. 33-42 More about this Journal
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.
Keywords
Vehicle tracking; Integrated Probabilistic Data Association Filter(IPDAF); Feature extraction; Laser scanner;
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Times Cited By KSCI : 1  (Citation Analysis)
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