Tracking rectangular and elliptical extended targets using laser measurements

Date

2011-07-08

Author

Granström, Karl
Lundquist, Christian
Orguner, Umut

Metadata

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This paper considers tracking of extended targets using data from laser range sensors. Two types of extended target shapes are considered, rectangular and elliptical, and a method to compute predicted measurements and corresponding innovation covariances is suggested. The proposed method can easily be integrated into any tracking framework that relies on the use of an extended Kalman filter. Here, it is used together with a recently proposed Gaussian mixture probability hypothesis density (GM-PHD) filter for extended target tracking, which enables estimation of not only position, orientation, and size of the extended targets, but also estimation of extended target type (i.e. rectangular or elliptical). In both simulations and experiments using laser data, the versatility of the proposed tracking framework is shown. In addition, a simple measure to evaluate the extended target tracking results is suggested.

Subject Keywords

Multiple target tracking, Extended targets , Probability hypothesis density, PHD, Gaussian mixture, Kalman filter, Laser range data, Rectangle, Ellipse, Intersection over union

URI

https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=80052549180&origin=inward
https://hdl.handle.net/11511/83754

Conference Name

14th International Conference on Information Fusion (2011)

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

K. Granström, C. Lundquist, and U. Orguner, “Tracking rectangular and elliptical extended targets using laser measurements,” presented at the 14th International Conference on Information Fusion (2011), Chicago, IL, USA, 2011, Accessed: 00, 2021. [Online]. Available: https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=80052549180&origin=inward.