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object tracking method based on data computing

JOURNAL OF SUPERCOMPUTING 2019年第6期75卷 3217-3228页

作者： Zhang, Weiqiang Cho, Seoungjae Chae, Jeongsook Sung, Yunsick Cho, Kyungeun Dongguk Univ Seoul Dept Multimedia Engn 30 Pildongro 1 Gil Seoul 04620 South Korea

The data computing process is utilized in various areas such as autonomous driving. Autonomous vehicles are intended to detect and track nearby moving objects avoiding collisions and to navigate in complex situations, such as heavy traffic and dense pedestrian areas. Therefore, object tracking is the core technology in the environment perception systems of autonomous vehicles and requires the monitoring of surrounding objects and the prediction of the moving states of objects in real time. In this paper, a multiple object tracking method based on light detection and ranging (LiDAR) data is proposed by using a Kalman filter and data computing process. We suppose that the movements of the tracking objects are captured consecutively as frames;thus, model-based detection and tracking of dynamic objects are possible. A Kalman filter is applied for predicting posterior state of tracking object based on anterior state of the tracking object. State denotes the positions, shapes, and sizes of objects. By computing the likelihood probability between predicted tracking objects and clusters which registered from tracking objects, the data association process of the tracking objects can be generated. Experimental results showed enhanced object tracking performance in a dynamic environment. The average matching probability of the tracking object was greater than 92.9%.

关键词： Data computing object tracking model-based object Kalman filter

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