TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Schuster, Michael
A1  - Reuter, Johannes
T1  - Target tracking in marine environment using automotive radar and laser range sensor
T2  - 20th International Conference on Methods and Models in Automation and Robotics (MMAR) : 24 - 27 Aug. 2015, Miedzyzdroje, Poland
N2  - Small vessels or unmanned surface vehicles only have a limited amount of space and energy available. If these vessels require an active sensing collision avoidance system it is often not possible to mount large sensor systems like X-Band radars. Thus, in this paper an energy efficient automotive radar and a laser range sensor are evaluated for tracking surrounding vessels. For these targets, those type of sensors typically generate more than one detection per scan. Therefore, an extended target tracking problem has to be solved to estimate state end extension of the vessels. In this paper, an extended version of the probabilistic data association filter that uses random matrices is applied. The performance of the tracking system using either radar or laser range data is demonstrated in real experiments.
KW  - target tracking
KW  - collision avoidance
KW  - filtering theory
KW  - laser ranging
KW  - marine radar
Y1  - 2015
SN  - 978-1-4799-8701-6
SB  - 978-1-4799-8701-6
U6  - https://doi.org/10.1109/MMAR.2015.7284009
DO  - https://doi.org/10.1109/MMAR.2015.7284009
N1  - Volltextzugriff für Hochschulangehörige via Datenbank IEEE Xplore
SP  - 965
EP  - 970
ER  -