Estimating Polynomial Structures from Radar Data
2010 (English)In: Proceedings of the 13th International Conference on Information Fusion, Edinburgh, Scotland, 2010Conference paper (Refereed)
Situation awareness for vehicular safety and autonomy functions includes knowledge of the drivable area. This area is normally constrained between stationary road-side objects as guard-rails, curbs, ditches and vegetation. We consider these as extended objects modeled by polynomials along the road, and propose an algorithm to track each polynomial based on noisy range and bearing detections, typically from a radar. A straightforward Kalman filter formulation of the problem suffers from the errors-in-variables (EIV) problem in that the noise enters the system model. We propose an EIV modification of the Kalman filter and demonstrates its usefulness using radar data from public roads.
Place, publisher, year, edition, pages
Edinburgh, Scotland, 2010.
Extended object, Extended target tracking, Polynomial, Errors in output, Errors in variables, Automotive radar, Road map
IdentifiersURN: urn:nbn:se:liu:diva-62844ISBN: 978-0-9824438-1-1OAI: oai:DiVA.org:liu-62844DiVA: diva2:374824
13th International Conference on Information Fusion, Edinburgh, United Kingdom, 26-29 July, 2010
FunderSwedish Research CouncilSwedish Foundation for Strategic Research