Map integration in tracking

David D. Sworder; John E. Boyd; R. G. Hutchins

doi:10.1117/12.728864

21 September 2007 Map integration in tracking

David D. Sworder, John E. Boyd, R. G. Hutchins

Proceedings Volume 6699, Signal and Data Processing of Small Targets 2007; 66990F (2007) https://doi.org/10.1117/12.728864
Event: Optical Engineering + Applications, 2007, San Diego, California, United States

Abstract

A multiple model tracking algorithm has considerable advantage when the target is moving on a road grid. A map-enhanced algorithm magnifies this by excluding large regions of the 2D motion-space from search. However, integrating the grid of streets and junctions into a recursive algorithm is challenging. This paper presents a map-enhanced, tracker that uses local models tuned to motions on the four cardinal directions. Map compliance is achieved by re-initializing the local kinematic state when a model change occurs and by moving the local estimate to the map after a measurement update. Unfortunately, the transition dynamics of the model state depend upon the kinematic state. A proposed junction influence function is based upon a rapidly decaying measure of the distance from the target to the nearest compatible junction.

Citation Download Citation

David D. Sworder, John E. Boyd, and R. G. Hutchins "Map integration in tracking", Proc. SPIE 6699, Signal and Data Processing of Small Targets 2007, 66990F (21 September 2007); https://doi.org/10.1117/12.728864

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