Stable and Real-Time Extended Object Tracking for Autonomous Driving
自動運転のための安定性とリアルタイム性を両立した拡張物体追跡
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- Available on the other site
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- Publication code
- 20214640
- Paper/Info type
- JSAE Transaction
Vol.52 No.5
- Pages
- 1000-1005(Total 6 p)
- Date of publication
- Sep 2021
- Publisher
- JSAE
- Language
- Japanese
Detailed Information
| Category(J) | 研究論文 Translation |
|---|---|
| Category(E) | ResearchPaper |
| Author(J) | 1) 時澤 宗一朗, 2) 米陀 佳祐, 3) 菅沼 直樹 |
| Author(E) | 1) Tokizawa Soichiro, 2) Yoneda Keisuke, 3) Suganuma Naoki |
| Affiliation(J) | 1) 金沢大学, 2) 金沢大学, 3) 金沢大学 |
| Abstract(J) | 物体追跡において形状のモデル化は重要である．物体を質点として追跡すると，死角等による形状変化時に推定結果が不安定になる．この問題の解決策として，物体の形状も含めて追跡する拡張物体追跡があるが，質点追跡に比べて処理時間がかかる．本研究では，ロバストかつリアルタイムな拡張物体追跡の実現を目的とする． Translation |
| Abstract(E) | Object tracking is important for autonomous driving. Extended Object Tracking (EOT) is the method that simultaneously estimates both object motion state and shape, and is more robust than tracking object as a mass point. In order to apply EOT to autonomous driving on actual public roads, we should consider its specific problems. For example, considering object shape changes caused by changes in the visible range and tracking many objects in real time are necessary. In this paper, we propose stable and real-time EOT that can be applied to actual public roads, and verified usefulness of the proposed method. |
