NDLI: Qualitative and quantitative car tracking from a range image sequence

Content Provider	IEEE Xplore Digital Library
Author	Liang Zhao Thorpe, C.
Copyright Year	1998
Description	Author affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Liang Zhao)
Abstract	In this paper, we present a car tracking system which provides quantitative and qualitative motion estimates of the tracked car simultaneously from a moving observer. First, we construct three motion models (constant velocity, constant acceleration, and turning) to describe the qualitative motion of a moving car. Then the models are incorporated into the Extended Kalman Filters to perform quantitative tracking. Finally, we develop, an Extended Interacting Multiple Model (EIMM) algorithm to manage the switching between models and to output both qualitative and quantitative motion estimates of the tracked car. Accurate motion modeling and efficient model management result in a high performance tracking system. The experimental results on simulated and real data demonstrate that our tracking system is reliable and robust, and runs in real-time. The multiple motion representations make the system useful in various autonomous driving tasks.
Starting Page	496
Ending Page	501
File Size	227813
Page Count	6
File Format	PDF
ISBN	0818684976
ISSN	10636919
DOI	10.1109/CVPR.1998.698651
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1998-06-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Image sequences Motion estimation Motion detection Motion analysis Real time systems Vehicles Target tracking Acceleration Robustness Path planning
Content Type	Text
Resource Type	Article
Subject	Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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