Cargando…
Modified extended object tracker for 2D lidar data using random matrix model
The random matrix (RM) model is a typical extended object-modeling method that has been widely used in extended object tracking. However, existing RM-based filters usually assume that the measurements follow a Gaussian distribution, which may lead to a decrease in accuracy when the filter is applied...
Autores principales: | , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Nature Publishing Group UK
2023
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10060379/ https://www.ncbi.nlm.nih.gov/pubmed/36991153 http://dx.doi.org/10.1038/s41598-023-32236-w |
_version_ | 1785017085284319232 |
---|---|
author | Li, Peng Chen, Cheng You, Cong-zhe Qiu, Jun-da |
author_facet | Li, Peng Chen, Cheng You, Cong-zhe Qiu, Jun-da |
author_sort | Li, Peng |
collection | PubMed |
description | The random matrix (RM) model is a typical extended object-modeling method that has been widely used in extended object tracking. However, existing RM-based filters usually assume that the measurements follow a Gaussian distribution, which may lead to a decrease in accuracy when the filter is applied to the lidar system. In this paper, a new observation model used to modify an RM smoother by considering the characteristics of 2D LiDAR data is proposed. Simulation results show that the proposed method achieves a better performance than the original RM tracker in a 2D lidar system. |
format | Online Article Text |
id | pubmed-10060379 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | Nature Publishing Group UK |
record_format | MEDLINE/PubMed |
spelling | pubmed-100603792023-03-31 Modified extended object tracker for 2D lidar data using random matrix model Li, Peng Chen, Cheng You, Cong-zhe Qiu, Jun-da Sci Rep Article The random matrix (RM) model is a typical extended object-modeling method that has been widely used in extended object tracking. However, existing RM-based filters usually assume that the measurements follow a Gaussian distribution, which may lead to a decrease in accuracy when the filter is applied to the lidar system. In this paper, a new observation model used to modify an RM smoother by considering the characteristics of 2D LiDAR data is proposed. Simulation results show that the proposed method achieves a better performance than the original RM tracker in a 2D lidar system. Nature Publishing Group UK 2023-03-29 /pmc/articles/PMC10060379/ /pubmed/36991153 http://dx.doi.org/10.1038/s41598-023-32236-w Text en © The Author(s) 2023 https://creativecommons.org/licenses/by/4.0/Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) . |
spellingShingle | Article Li, Peng Chen, Cheng You, Cong-zhe Qiu, Jun-da Modified extended object tracker for 2D lidar data using random matrix model |
title | Modified extended object tracker for 2D lidar data using random matrix model |
title_full | Modified extended object tracker for 2D lidar data using random matrix model |
title_fullStr | Modified extended object tracker for 2D lidar data using random matrix model |
title_full_unstemmed | Modified extended object tracker for 2D lidar data using random matrix model |
title_short | Modified extended object tracker for 2D lidar data using random matrix model |
title_sort | modified extended object tracker for 2d lidar data using random matrix model |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10060379/ https://www.ncbi.nlm.nih.gov/pubmed/36991153 http://dx.doi.org/10.1038/s41598-023-32236-w |
work_keys_str_mv | AT lipeng modifiedextendedobjecttrackerfor2dlidardatausingrandommatrixmodel AT chencheng modifiedextendedobjecttrackerfor2dlidardatausingrandommatrixmodel AT youcongzhe modifiedextendedobjecttrackerfor2dlidardatausingrandommatrixmodel AT qiujunda modifiedextendedobjecttrackerfor2dlidardatausingrandommatrixmodel |