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Extended target tracking using Gaussian processes on stick-pixel defined objects
Mälardalen University, School of Innovation, Design and Engineering.
2017 (English)Independent thesis Advanced level (degree of Master (One Year)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this work, I present the performance of a extended target tracking algorithm that utilizes Gaussianprocesses. The extended target tracking algorithm is evaluated on objects corresponding to roadusers, with automotive use in mind. The measurements that denes the object to be tracked arederived from stereo image sensor disparity and is called Stick-pixels or Stixels. The process ofgenerating these measurements are also presented in this work.It consists of two separate methods,one relying on stereo image frames and one purely dened by object characteristics and pose. Theextended target tracking algorithm has been tested on three types of simulated road users, car, cyclistand pedestrian. To evaluate the performance of the target tracking algorithm three measures areused, error in position, orientation discrepancy over time and intersection over union.

Place, publisher, year, edition, pages
2017. , 92 p.
National Category
Robotics
Identifiers
URN: urn:nbn:se:mdh:diva-35782OAI: oai:DiVA.org:mdh-35782DiVA: diva2:1109971
External cooperation
Autoliv Sverige AB
Supervisors
Examiners
Available from: 2017-06-16 Created: 2017-06-15 Last updated: 2017-06-16Bibliographically approved

Open Access in DiVA

fulltext(10399 kB)94 downloads
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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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