Tracking Stationary Extended Objects for Road Mapping using Radar Measurements
2009 (English)In: Proceedings of the '09 IEEE Intelligent Vehicle Symposium, IEEE , 2009, 405-410 p.Conference paper (Refereed)
It is getting more common that premium cars areequipped with a forward looking radar and a forward looking camera. The data is often used to estimate the road geometry, tracking leading vehicles, etc. However, there is valuable information present in the radar concerning stationary objects, that is typically not used. The present work shows how stationary objects, such as guard rails, can be modeled and tracked as extended objects using radar measurements. The problem is cast within a standard sensor fusion framework utilizing the Kalman filter. The approach has been evaluated on real datafrom highways and rural roads in Sweden.
Place, publisher, year, edition, pages
IEEE , 2009. 405-410 p.
, IEEE Intelligent Vehicles Symposium. Proceedings, ISSN 1931-0587
Extended objects, Object detection, Radar imaging, Road vehicle radar, Object tracking, Road mapping, Stationary objects
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-18179DOI: 10.1109/IVS.2009.5164312ISBN: 978-1-4244-3504-3ISBN: 978-1-4244-3503-6OAI: oai:DiVA.org:liu-18179DiVA: diva2:216514
'09 IEEE Intelligent Vehicle Symposium, Xi’an, China, June, 2009
ProjectsIVSS - SEFSMOVIII