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Target tracking in marine environment using automotive radar and laser range sensor

  • 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.

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Author:Michael SchusterGND, Johannes ReuterORCiD
Parent Title (English):20th International Conference on Methods and Models in Automation and Robotics (MMAR) : 24 - 27 Aug. 2015, Miedzyzdroje, Poland
Document Type:Conference Proceeding
Year of Publication:2015
Release Date:2018/03/06
Tag:collision avoidance; filtering theory; laser ranging; marine radar; target tracking
First Page:965
Last Page:970
Volltextzugriff f├╝r Hochschulangeh├Ârige via Datenbank IEEE Xplore
Open Access?:Nein