Tracking rectangular and elliptical extended targets using laser measurements

2011-07-08
Granström, Karl
Lundquist, Christian
Orguner, Umut
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.
14th International Conference on Information Fusion (2011)

Suggestions

Distributed Target Tracking with Propagation Delayed Measurements
Orguner, Umut (2009-07-09)
This paper presents a framework for making distributed target tracking under significant signal propagation delays between the target and the sensors. Each sensor considered makes estimation using its own measurements compensating for the involved signal propagation delay using a deterministic sampling based algorithm proposed previously. Since the individual sensor readings might not be enough to localize the target, the sensors have to share their estimates with each other at specific time instants and co...
Fully-Automatic Target Detection and Tracking for Real-Time, Airborne Imaging Applications
Alkanat, Tunc; Tunali, Emre; Oz, Sinan (2015-03-14)
In this study, an efficient, robust algorithm for automatic target detection and tracking is introduced. Procedure starts with a detection phase. Proposed method uses two alternatives for the detection phase, namely maximally stable extremal regions detector and Canny edge detector. After detection, regions of interest are evaluated and eliminated according to their compactness and effective saliency. The detection process is repeated for a predetermined number of pyramid levels where each level processes a...
Robust Automatic Target Recognition in FLIR imagery
Soyman, Yusuf (2012-04-24)
In this paper, a robust automatic target recognition algorithm in FLIR imagery is proposed. Target is first segmented out from the background using wavelet transform. Segmentation process is accomplished by parametric Gabor wavelet transformation. Invariant features that belong to the target, which is segmented out from the background, are then extracted via moments. Higher-order moments, while providing better quality for identifying the image, are more sensitive to noise. A trade-off study is then perform...
Gaussian mixture PHD filter for multi-target tracking using passive doppler-only measurements
Guldogan, Mehmet B.; Orguner, Umut; Gustafsson, Fredrik (2012-05-17)
In this paper, we analyze the performance of the Gaussian mixture probability hypothesis density (GM-PHD) filter in tracking multiple non-cooperative targets using a passive sensor network. Non-cooperative transmissions from illuminators of opportunity like GSM base stations, FM radio transmitters or digital broadcasters are exploited by non-directional separately located Doppler measuring sensors. Clutter, missed detections and multi-static Doppler variances are incorporated into a realistic multi-target s...
Railway Fastener Inspection by Real-Time Machine Vision
Aytekin, Caglar; REZAEITABAR, Yousef; Dogru, Sedat; Ulusoy, İlkay (2015-07-01)
In this paper, a real-time railway fastener detection system using a high-speed laser range finder camera is presented. First, an extensive analysis of various methods based on pixel-wise and histogram similarities are conducted on a specific railway route. Then, a fusing stage is introduced which combines least correlated approaches also considering the performance upgrade after fusing. Then, the resulting method is tested on a larger database collected from a different railway route. After observing repea...
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.