Grid-Based Object Tracking

Sascha Steyer

doi:10.51202/9783186272089

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Bibliographic data

Publication year: 2021
Publication date: 21.09.2021
ISBN-Print: 978-3-18-527208-0
ISBN-Online: 978-3-18-627208-9
Publisher: VDI Verlag, Düsseldorf
Series: Mess-, Steuerungs- und Regelungstechnik
Volume: 1272
Language: German
Pages: 186
Product type: Book Titles

Titelei/Inhaltsverzeichnis Partial access Pages I - XII Download chapter (PDF)
1. Motivation No access
2. Challenges of Multi-Sensor Environment Perception No access
3. Main Contribution and Outline of This Work No access
1. 1. Related Work No access
  2. Contribution and Outline No access
2. 1. Spatial Grid Structure No access
  2. Evidential Occupancy Representation No access
3. 1. Generic Position-Based Evidential Occupancy Grid Derivation No access
  2. Lidar Measurement Grids No access
  3. Radar Measurement Grids No access
  4. Camera Measurement Grids No access
4. 1. Basic Cell-Wise Fusion of Evidence Masses No access
  2. Spatiotemporal Alignment of Asynchronous Sensor Data No access
5. Results and Summary No access
1. 1. Related Work No access
  2. Contribution and Outline No access
2. 1. Evidential Frame of Discernment for Dynamic Environments No access
  2. Dynamic Grid Map Representation No access
  3. Low-Level Particle Representation No access
3. 1. Prediction of the Dynamic Evidence Mass No access
  2. Prediction of the Non-Dynamic Evidence Masses No access
  3. Resulting Combined Predicted Dynamic Grid Map No access
4. 1. Conflict Assignment No access
  2. Occupancy Differentiation from Distance-Only Measurements No access
  3. Additional Radar- and Camera-Based Occupancy Classification No access
  4. Adapted Occupancy Convergence by Object Tracking Feedback No access
  5. Overall Resulting Updated Evidence Masses of the Map No access
5. 1. Cell-Wise Occupancy-Based Number of Desired Particles No access
  2. Radar- and Camera-Based Particle Velocity Weighting No access
  3. Initialization of New Particles No access
  4. Resampling of the Particle Population No access
6. Augmented Measurement Grid No access
7. Results and Summary No access
1. 1. Related Work No access
  2. Contribution and Outline No access
2. 1. Object Detection Based on Dynamic Occupancy Classification No access
  2. Measurement Abstraction Levels of the Association Problem No access
3. 1. Association Based on Predicted High-Level Object Track No access
  2. Particle Labeling Association No access
  3. Additional Clustering with Verification No access
4. 1. Density-Based Clustering of Dynamic Occupied Cells No access
  2. Additional Region Growing with Velocity Variance Analysis No access
5. Results and Summary No access
1. 1. Related Work No access
  2. Contribution and Outline No access
2. Object State Representation No access
3. 1. Prediction No access
  2. Transformation of Associated Cells to the Box Representation No access
  3. Position Measurements with Reference Point Selection No access
  4. Velocity and Orientation Estimation by the Particle Tracking No access
  5. Orientation Estimation Based on Freespace Evidence No access
4. 1. Association of Radar Doppler Measurements No access
  2. Geometric Relations of the Radial Velocity Component No access
  3. Radar-Based Motion Estimation No access
5. 1. Histogram Filter Geometry Distribution Estimation No access
  2. Classification Based on Geometry and Velocity Information No access
  3. Combined Object Classification with Camera Information No access
  4. Extraction of Estimated Length and Width of Box Model No access
6. Results and Summary No access
1. 1. Sensor Setup No access
  2. Main Processing Steps of this Work No access
  3. Primary Grid Configuration and Algorithm Implementation No access
2. 1. Accumulation over Time No access
  2. Comparison with Original Approach No access
  3. Occupancy Classification with Additional Information No access
3. 1. Object Extraction and Association No access
  2. Dynamic State Estimation for Highly Dynamic Maneuvers No access
  3. Object Shape Estimation and Classification No access
4. Summary and Overall Approach Application No access
Conclusion No access Pages 165 - 168
Own Publications No access Pages 169 - 169
Bibliography No access Pages 170 - 186