On-road target tracking using radar and image sensor based measurements

Author

Chen, Yangsheng ; Jilkov, Vesselin P. ; Li, X. Rong

Author_Institution

Dept. of Electr. Eng., Univ. of New Orleans, New Orleans, LA, USA

fYear

2009

fDate

6-9 July 2009

Firstpage

2091

Lastpage

2098

Abstract

On-road target tracking using radar and image sensor based measurements is studied. A novel 2D road coordinate representation of an on-road moving target is introduced. A natural description of target longitudinal and lateral maneuvering behavior in 2D road coordinates is given using multiple models. An improved mean-adaptive acceleration model is utilized for describing longitudinal maneuver modes of motion. Three IMM-based estimators are developed that use different schemes for fusion of radar and image sensor based measurement data: centralized, distributed, and sequential. Simulation results are presented that illustrate the performance of the proposed estimators in general, and demonstrate their improved capabilities as compared with a known 1D road coordinate (mileage) estimator, in particular.

Keywords

image motion analysis; image representation; image sensors; radar imaging; radar tracking; road vehicles; sensor fusion; target tracking; 2D road coordinate representation; IMM-based estimator; centralized estimator; distributed estimator; image sensor fusion; longitudinal maneuver mode; mean-adaptive acceleration model; measurement data; on-road moving target tracking; radar sensor fusion; sequential estimator; Acceleration; Electric variables measurement; Image sensors; Motion estimation; Radar imaging; Radar measurements; Radar tracking; Roads; State estimation; Target tracking; 2D road coordinates; IMM; Target tracking; estimation; ground target; sensor data fusion;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Fusion, 2009. FUSION '09. 12th International Conference on

Conference_Location

Seattle, WA

Print_ISBN

978-0-9824-4380-4

Type

conf

Filename

5203725