Title :
Multi-sensor tracking of a vehicle on a grid
Author :
Sworder, D.D. ; Boyd, J.E. ; Hutchins, R.G. ; Elliott, R.J.
Author_Institution :
Dept. of ECE, California Univ., San Diego, La Jolla, CA, USA
Abstract :
Considerable work has been done on model-based, multi-sensor signal processing algorithms for estimating the location and the motion mode of a mobile vehicle. Hybrid models provide the best framework for fusion of disparate sensor measurements. But abrupt sensor nonlinearities and rigid motion constraints require more detailed analysis. This paper presents a multiple-model estimator that provides high quality location and uncertainty estimates for a vehicle following a mapped road grid. An example illustrates the power of the estimator.
Keywords :
road vehicles; sensor fusion; tracking; traffic engineering computing; disparate sensor measurements; location estimation; mapped road grid; mobile vehicle; multi-sensor signal processing algorithms; multiple-model estimator; multisensor tracking; rigid motion constraints; sensor nonlinearities; Aircraft; Kinematics; Motion analysis; Motion estimation; Power system modeling; Roads; Sensor fusion; Signal processing algorithms; Target tracking; Vehicles;
Conference_Titel :
Signals, Systems and Computers, 2004. Conference Record of the Thirty-Eighth Asilomar Conference on
Print_ISBN :
0-7803-8622-1
DOI :
10.1109/ACSSC.2004.1399384
