Extended Object Tracking by Millimeter-Wave Radar and Image Fusion for Automated Driving
- Delivery
- Available on this site
- Format
- Price
- Non-members (tax incl.):¥1,100 Members (tax incl.):¥880
- Publication code
- 20219084
- Paper/Info type
- Other International Conferences
- Pages
- 1-5(Total 5 p)
- Date of publication
- Sep 2021
- Publisher
- JSAE
- Language
- English
Detailed Information
Author(E) | 1) Keisuke Yoneda, 2) Atsushi Kasai, 3) Soichiro Tokizawa, 4) Ryo Yanase, 5) Mohammad Aldibaja, 6) Naoki Suganuma |
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Affiliation(E) | 1) Kanazawa University, 2) Kanazawa University, 3) Kanazawa University, 4) Kanazawa University, 5) Kanazawa University, 6) Kanazawa University |
Abstract(E) | In automated driving for urban area, dynamic object tracking is one of the key technologies of environmental perception. It aims to estimate the position, velocity, acceleration of dynamic objects around the ego-vehicle. This paper develops a sensor fusion based extended object tracking which simultaneously estimate the object shape in addition to the motion state. The robust state estimation is implemented by integrating the distance measurement from MWR and the object size detected from the camera. The evaluated results show that the proposed method is able to stably estimate the object state even in the far object. |