Open AccessProceedings Article
Comparison and evaluation of advanced motion models for vehicle tracking
Robin Schubert,Eric Richter,Gerd Wanielik +2 more
- pp 1-6
TLDR
This paper surveys numerous curvilinear models and compares their performance using a tracking tasks which includes the fusion of GPS and odometry data with an Unscented Kalman Filter and a highly accurate reference trajectory has been recorded.Abstract:
The estimation of a vehiclepsilas dynamic state is one of the most fundamental data fusion tasks for intelligent traffic applications. For that, motion models are applied in order to increase the accuracy and robustness of the estimation. This paper surveys numerous (especially curvilinear) models and compares their performance using a tracking tasks which includes the fusion of GPS and odometry data with an Unscented Kalman Filter. For evaluation purposes, a highly accurate reference trajectory has been recorded using an RTK-supported DGPS receiver. With this ground truth data, the performance of the models is evaluated in different scenarios and driving situations.read more
Citations
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Journal ArticleDOI
A survey on motion prediction and risk assessment for intelligent vehicles
TL;DR: This paper points out the tradeoff between model completeness and real-time constraints, and the fact that the choice of a risk assessment method is influenced by the selected motion model.
Journal ArticleDOI
Human motion trajectory prediction: a survey:
Andrey Rudenko,Andrey Rudenko,Luigi Palmieri,Michael Herman,Kris M. Kitani,Dariu M. Gavrila,Kai O. Arras +6 more
TL;DR: In this article, the ability of intelligent autonomous systems to perceive, understand, and anticipate human behavior becomes increasingly important in a growing number of intelligent systems in human environments, and the ability to do so is discussed.
Proceedings ArticleDOI
Vehicle trajectory prediction based on motion model and maneuver recognition
TL;DR: A new trajectory prediction method which combines a trajectory prediction based on Constant Yaw Rate and Acceleration motion model and a trajectory Prediction based on maneuver recognition and results show that the Maneuver Recognition Module has a high success rate and that the final trajectory prediction has a better accuracy.
Proceedings ArticleDOI
Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMs
Nachiket Deo,Mohan M. Trivedi +1 more
TL;DR: In this article, an LSTM model for interaction aware motion prediction of surrounding vehicles on freeways is presented, which assigns confidence values to maneuvers being performed by vehicles and outputs a multi-modal distribution over future motion based on them.
Journal ArticleDOI
Exploiting AIS Data for Intelligent Maritime Navigation: A Comprehensive Survey From Data to Methodology
TL;DR: AIS data sources and relevant aspects of navigation in which such data are or could be exploited for safety of seafaring are surveyed, namely traffic anomaly detection, route estimation, collision prediction, and path planning.
References
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Journal ArticleDOI
Handbook of Mathematical Functions with Formulas
TL;DR: The Handbook of Mathematical Functions with Formulas (HOFF-formulas) as mentioned in this paper is the most widely used handbook for mathematical functions with formulas, which includes the following:
Journal ArticleDOI
Unscented filtering and nonlinear estimation
Simon Julier,Jeffrey Uhlmann +1 more
TL;DR: The motivation, development, use, and implications of the UT are reviewed, which show it to be more accurate, easier to implement, and uses the same order of calculations as linearization.
Book
Beyond the Kalman Filter: Particle Filters for Tracking Applications
TL;DR: Part I Theoretical concepts: introduction suboptimal nonlinear filters a tutorial on particle filters Cramer-Rao bounds for nonlinear filtering and tracking applications: tracking a ballistic object bearings-only tracking range- only tracking bistatic radar tracking targets through blind Doppler terrain aided tracking detection and tracking of stealthy targets group and extended object tracking.
Book
Design and Analysis of Modern Tracking Systems
Samuel S. Blackman,Robert Populi +1 more
TL;DR: The Basics of Target Tracking and Multi Target Tracking with an Agile Beam Radar, and Multiple Hypothesis Tracking System Design and Application.