A Model-Based Joint Detection and Tracking Approach for Multi-Vehicle Tracking With Lidar Sensor

作者：Fortin Benoit^*; Lherbier Regis; Noyer Jean Charles

来源：IEEE Transactions on Intelligent Transportation Systems, 2015, 16(4): 1883-1895.

DOI：10.1109/TITS.2015.2391131

• Extended target tracking
• sequential Monte Carlo methods
• track-before-detect
• scanning laser range finder
• advanced driver assistance systems

This paper presents a method for joint detection and tracking of vehicles with a scanning laser rangefinder. The lidar measurements of an object have the particularity to be spatially distributed, which generally leads to a detection step before any tracking. Differently, the proposed method relies on the raw measurement processing without any detection step, which improves the overall performance in multiobject tracking while providing good estimation accuracies. The solution uses the sequential Monte Carlo methods by incorporating the geometric invariant of the objects of interest (vehicles). This approach also offers an efficient solution to the problem of multitarget tracking by integrating naturally the track management in the filtering process.

• 出版日期2015-8