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Object Level Fusion and Tracking Strategies for Modeling Driving Situations

Catalá-Prat, Álvaro and Köster, Frank (2011) Object Level Fusion and Tracking Strategies for Modeling Driving Situations. Vehicular Electronics and Safety (ICVES), 2011 IEEE International Conference on , 10.-12. Jul. 2011, Beijing, China. ISBN 978-1-4577-0576-2 .

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Official URL: http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5983815

Abstract

Object detection and tracking is a crucial task as a basis for advanced driver assistance and automation systems. For this purpose a fusion system at object level is proposed, which allows high availability and reliability, since a high independence of the sensors can be reached. In order to deal with common challenges of object detection and tracking, such as maneuvering vehicles, data outliers, partial observability and split and merge effects, a series of novel strategies have been developed. These include the adaptive noise modeling, the definition of an object logical reference, the partial observability modeling, the multiple association of observations, and strategies to duplicate and unify object hypotheses. The proposed fusion system has been prototypically implemented based on a camera and a laser scanner. Furthermore, it has been tested with both simulated and real data. The test results show a win in data quality and robustness, with which an improvement of driver assistance and automation systems can be reached.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Object Level Fusion and Tracking Strategies for Modeling Driving Situations
Authors:
AuthorsInstitution or Email of Authors
Catalá-Prat, Álvaroalvaro.catalaprat@dlr.de
Köster, Frankfrank.koester@dlr.de
Date:10 July 2011
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 205-2010
ISBN:978-1-4577-0576-2
Status:Published
Keywords:object detection, object tracking, sensor data fusion
Event Title:Vehicular Electronics and Safety (ICVES), 2011 IEEE International Conference on
Event Location:Beijing, China
Event Type:international Conference
Event Dates:10.-12. Jul. 2011
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrerassistenz (old)
Location: Braunschweig
Institutes and Institutions:Institute of Transportation Systems > Automotive
Deposited By: Alvaro Catala Prat
Deposited On:18 Oct 2011 14:53
Last Modified:18 Oct 2011 14:53

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