3D outline contours of vehicles in 3D-LIDAR-measurements for tracking extended targets

Steinemann, Philipp; Klappstein, Jens; Dickmann, Jürgen; Wünsche, Hans-Joachim; Hundelshausen, Felix von

doi:10.1109/ivs.2012.6232179

Cited by 7 publications

(2 citation statements)

References 9 publications

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“…Recently, an extension for 3D GPs has been published [13]. Furthermore, [14] estimates the 3D objects by using transformed planes, whereas [15] estimates the 3D vehicle contour in LiDAR measurements.…”

Section: Related Workmentioning

confidence: 99%

Fast 3D Extended Target Tracking using NURBS Surfaces

Naujoks

Burger

Wuensche

2019

2019 IEEE Intelligent Transportation Systems Conference (ITSC)

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This paper proposes fast and novel methods to jointly estimate the target's unknown 3D shape and dynamics. Measurements are noisy and sparsely distributed 3D points from a light detection and ranging (LiDAR) sensor. The methods utilize non-uniform rational B-splines (NURBS) surfaces to approximate the target's shape. One method estimates Cartesian scaling parameters of a NURBS surface, whereas the second method estimates the corresponding NURBS weights, too. Major advantages are the capability of estimating a fully 3D shape as well as the fast processing time. Real-world evaluations with a static and dynamic vehicle show promising results compared to state-of-the-art 3D extended target tracking algorithms.

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Section: Related Workmentioning

confidence: 99%

Fast 3D Extended Target Tracking using NURBS Surfaces

Naujoks

Burger

Wuensche

2019

2019 IEEE Intelligent Transportation Systems Conference (ITSC)

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“…In [12], the authors extended the above work to unstructured environment. Steinemann et al presented a vehicle tracking method using 3D model of the vehicle, and the velocity of the vehicle was obtained by the 3D point cloud registration approach in [13]. The HDL-64E 3D Lidar has a powerful ability to perceive the environment, but the cost of it is very high.…”

Section: Introductionmentioning

confidence: 99%

Vehicle detection and tracking with 2D laser range finders

Zhao

Liu

Chen

2013

2013 6th International Congress on Image and Signal Processing (CISP)

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Dynamic environment perception is an important component for unmanned ground vehicle navigation. In this paper, we focus on the vehicle detection and tracking with two low cost 2D laser range finders. Firstly, a foreground segmentation method is proposed based on a combination of the time cue and motion cue. The modified laser beam model is proposed for the tilted 2D laser range finder in the foreground segmentation. Then, the vehicle detection and preliminary tracking is realized by the modified measurement model. Finally, a new precise tracking method is proposed to refine the preliminary tracking results. Qualitative and quantitative experiments are carried out in real dynamic environment, and the result shows that the proposed method can detect and track the vehicle accurately.

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Vertical distribution characteristics of aerosol particles over the Guanzhong Plain

et al. 2021

Atmospheric Environment

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3D outline contours of vehicles in 3D-LIDAR-measurements for tracking extended targets

Cited by 7 publications

References 9 publications

Fast 3D Extended Target Tracking using NURBS Surfaces

Fast 3D Extended Target Tracking using NURBS Surfaces

Vehicle detection and tracking with 2D laser range finders

Vertical distribution characteristics of aerosol particles over the Guanzhong Plain

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