On Runtime Reduction in 3D Extended Object Tracking by Measurement Downsampling
- In 3D extended object tracking (EOT), well-established models exist for tracking the object extent using various shape priors. A single update, however, has to be performed for every measurement using these models leading to a high computational runtime for high-resolution sensors. In this paper, we address this problem by using various model-independent downsampling schemes based on distance heuristics and random sampling as pre-processing before the update. We investigate the methods in a simulated and real-world tracking scenario using two different measurement models with measurements gathered from a LiDAR sensor. We found that there is a huge potential for speeding up 3D EOT by dropping up to 95\% of the measurements in our investigated scenarios when using random sampling. Since random sampling, however, can also result in a subset that does not represent the total set very well, leading to a poor tracking performance, there is still a high demand for further research.
Author: | Tim BaurORCiD, Johannes ReuterORCiD, Uwe D. HanebeckORCiD |
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URN: | urn:nbn:de:bsz:kon4-opus4-49697 |
URL: | https://isas.iar.kit.edu/pdf/SDF-MFI23_Baur.pdf |
DOI: | https://doi.org/10.1109/SDF-MFI59545.2023.10361508 |
ISBN: | 979-8-3503-8258-7 |
ISBN: | 979-8-3503-8259-4 |
Parent Title (English): | IEEE Symposium Sensor Data Fusion and International Conference on Multisensor Fusion and Integration for Intelligent Systems (SDF-MFI 2023), 27.-29. November 2023, Bonn, Germany |
Publisher: | IEEE |
Document Type: | Conference Proceeding |
Language: | English |
Year of Publication: | 2023 |
Release Date: | 2023/12/07 |
Tag: | 3D Extended Object Tracking; Elliptic Cylinder; Shape Tracking; Downsampling; Runtime Reduction |
Page Number: | 6 |
Institutes: | Institut für Systemdynamik - ISD |
Open Access?: | Ja |
Relevance: | Keine peer reviewed Publikation (Wissenschaftlicher Artikel und Aufsatz, Proceeding, Artikel in Tagungsband) |
Licence (German): | Urheberrechtlich geschützt |