Simultaneous Three-Dimensional Shape Estimation and Tracking in Maritime Environments
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Beschreibung
Modern high-resolution sensors, such as Lidar, generate thousands of measurements per time step and object in maritime environment perception. These measurements contain information about both kinematics and the objects’ extent and shape. This work develops three-dimensional measurement models for maritime extended object tracking, including parametric and flexible shape representations in cylindrical coordinates. Their effectiveness is demonstrated in simulations and real-world experiments.
Autor*in
Tim Baur
Themen in »Simultaneous Three-Dimensional Shape Estimation and Tracking in Maritime Environments«
3D Extended Object Tracking Lidar Umfelderkennung in maritimen Anwendungen Fourier-Chebyshev-Doppelreihen Superellipsen Environment Perception in Maritime Applications Fourier-Chebyshev Double Series Superellipses