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The random matrix approach is a robust algorithm to filter the mean and covariance matrix of noisy observations of a dynamic object. Afterward, virtual measurement models can be used to find iteratively the extent parameters of an object that would cause the same statistical moments within their measurements. In previous work, this was limited to elliptical targets and only contour measurements.In this paper, we introduce the parallel use of an elliptical, triangular and rectangular-shaped virtual measurement model and a shape classification that selects the model that fits best to the measurements. The measurement likelihood is modeled either via ray tracing, a uniformly or normally spatial distribution over the object’s extent or as a combination of those.The results show that the extent estimation works precisely and that the classification accuracy highly depends on the measurement noise.
Extended Target Tracking With a Lidar Sensor Using Random Matrices and a Virtual Measurement Model
(2022)
Random matrices are widely used to estimate the extent of an elliptically contoured object. Usually, it is assumed that the measurements follow a normal distribution, with its standard deviation being proportional to the object’s extent. However, the random matrix approach can filter the center of gravity and the covariance matrix of measurements independently of the measurement model. This work considers the whole chain from data acquisition to the linear Kalman Filter with extension estimation as a reference plant. The input is the (unknown) ground truth (position and extent). The output is the filtered center of gravity and the filtered covariance matrix of the measurement distribution. A virtual measurement model emulates the behavior of the reference plant. The input of the virtual measurement model is adapted using the proposed algorithm until the output parameters of the virtual measurement model match the result of the reference plant. After the adaptation, the input to the virtual measurement model is considered an estimation for position and extent. The main contribution of this paper is the reference model concept and an adaptation algorithm to optimize the input of the virtual measurement model.