Title :
Multi target tracking with CPHD filter based on asynchronous sensors
Author :
Lamard, Laetitia ; Chapuis, Roland ; Boyer, Jean Philippe
Author_Institution :
Inst. Pascal, Clermont-Ferrand, France
Abstract :
In this paper, the problem of targets road tracking based on multiple asynchronous sensors is addressed. A method based on Cardinalized Probability Hypothesis Density (CPHD) filter improved with probability of target type is presented. Using the sensor classification, the probability of target type is recursively computed by Bayesian rules. This probability is used to improve the performance of the Multi Target Tracking (MTT) filter and the understanding of the observed area. The tuning of filter parameter depending of sensor is explained and the particular case of non detection due to occlusion with camera is developed. Our system has been validated with real measurements from a smart camera and a radar in real traffic conditions with real time computation.
Keywords :
Bayes methods; driver information systems; filtering theory; image classification; image sensors; radar imaging; radar tracking; road traffic; target tracking; ADAS; Bayesian rules; CPHD filter; MTT; advanced driver assistance system; cardinalized probability hypothesis density filter; filter parameter tuning; multiple asynchronous sensors; multitarget tracking filter; radar; real traffic conditions; sensor classification; smart camera; target road tracking problem; target type probability; Cameras; Equations; Radar; Sensor fusion; Target tracking; Vehicles;
Conference_Titel :
Information Fusion (FUSION), 2013 16th International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-605-86311-1-3
