Journal article
L-Shape-Model-Based Vehicle Tracking With Joint Kinematic and Geometric Estimation Using Lidar
Abstract
In this article, the problem of tracking vehicles using lidar sensors mounted on an ego-vehicle is addressed. Due to line-of-sight limitations, the back (or front) of a vehicle as seen by the lidar on the ego-vehicle behind (or ahead of) it is often modeled as L-shaped. In this article, an L-shape-based vehicle tracking algorithm with joint kinematic and geometric estimation is presented. By feeding back tracking results to L-shape fitting, an …
Authors
Song D; Tharmarasa R; Zhao W; Li G; Lee R; Kirubarajan T
Journal
IEEE Transactions on Aerospace and Electronic Systems, Vol. 59, No. 5, pp. 5768–5777
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
10.1109/taes.2023.3267763
ISSN
0018-9251