TR2021-048
Extended Object Tracking with Automotive Radar Using B-Spline Chained Ellipses Model
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- , "Extended Object Tracking with Automotive Radar Using B-Spline Chained Ellipses Model", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), DOI: 10.1109/ICASSP39728.2021.9415080, June 2021, pp. 8408-8412.BibTeX TR2021-048 PDF Video
- @inproceedings{Yao2021jun,
- author = {{Yao, Gang and Wang, Pu and Berntorp, Karl and Mansour, Hassan and Boufounos, Petros T. and Orlik, Philip V.}},
- title = {Extended Object Tracking with Automotive Radar Using B-Spline Chained Ellipses Model},
- booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
- year = 2021,
- pages = {8408--8412},
- month = jun,
- publisher = {IEEE},
- doi = {10.1109/ICASSP39728.2021.9415080},
- issn = {2379-190X},
- isbn = {978-1-7281-7605-5},
- url = {https://www.merl.com/publications/TR2021-048}
- }
- , "Extended Object Tracking with Automotive Radar Using B-Spline Chained Ellipses Model", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), DOI: 10.1109/ICASSP39728.2021.9415080, June 2021, pp. 8408-8412.
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Abstract:
This paper introduces a B-spline chained ellipses model representation for extended object tracking (EOT) using high-resolution automotive radar measurements. With offline automotive radar training datasets, the proposed model parameters are learned using the expectationmaximization (EM) algorithm. Then the probabilistic multi-hypothesis tracking (PMHT) along with the unscented transform (UT) is proposed to deal with the nonlinear forward-warping coordinate transformation, the measurement-to-ellipsis association, and the state update step. Numerical validation is provided to verify the effectiveness of the proposed EOT framework with automotive radar measurements.