Bayesian occupancy filtering for multitarget tracking: An automotive application

International Journal of Robotics Research

Volumn 25, Issue 1, 2006, Pages 19-30

  Coué, Christophe ^a   Pradalier, Cédric ^a   Laugier, Christian ^a   Fraichard, Thierry ^a   Bessière, Pierre ^a  

^a INRIA   (France)

Author keywords

Bayesian state estimation; Multitarget tracking; Occupancy grid

Indexed keywords

BAYESIAN STATE ESTIMATION; DRIVER ASSISTANCE SYSTEMS; MULTITARGET TRACKING; OCCUPANCY GRID;

AUTOMOBILE DRIVERS; AUTOMOBILES; COLLISION AVOIDANCE; HIGHWAY SYSTEMS;

AUTOMATA THEORY;

EID: 31144435552     PISSN: 02783649     EISSN: 17413176     Source Type: Journal    
DOI: 10.1177/0278364906061158     Document Type: Conference Paper

References (20)

1. Arras, K. O., Tomatis, N., and Siegwart, R. 2001. Multisensor on-the-fly localization: precision and reliability for applications. Robotics and Autonomous Systems 44:131-143.
2. Bar-Shalom, Y. and Li, X. 1995. Multitarget Multisensor Tracking: Principles and Techniques, YBS Publishing, Storrs, CT.
3. Blackman, S. and Popoli, R. 2000. Design and Analysis of Modern Tracking Systems, Artech House, Boston, MA.
4. Cooper, G. 1990. The computational complexity of probabilistic inference using Bayesian belief network. Artificial Intelligence 42(2-3):393-405.
5. Coué. C. and Bessière, P. 2001. Chasing an elusive target with a mobile robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Maui, HI, October.
6. Elfes, A. 1989. Using occupancy grids for mobile robot perception and navigation. IEEE Computer 22(6):46-57.
7. Gauvrit, H., Le Cadre, J. P., and Jauffret, C. 1997. A formulation of multitarget tracking as an incomplete data problem. IEEE Transactions on Aerospace and Electronic Systems 33(4):1242-1257.
8. Jazwinsky, A. H. 1970. Stochastic Processes and Filtering Theory, Academic Press, New York.
9. Kaelbling, L. P., Littman, M. L., and Cassandra, A. R. 1998. Planning and acting in partially observable stochastic domains. Artificial Intelligence 101:99-134.
10. Kalman, R. E. 1960. A new approach to linear filtering and prediction problems. Transactions of the ASME, Journal of Basic Engineering 82(D):35-45.
11. Lebeltel, O. 1999. Programmation Bayésienne des Robots. Thèse de doctorat, Institut National Polytechnique de Grenoble, Grenoble, France, September.
12. Lebeltel, O., Bessière, P., Diard, J., and Mazer, E. 2004. Bayesian robot programming. Autonomous Robots 16:4979.
13. Le Hy, R., Arrigoni, A., Bessière, P., and Lebeltel, O. 2003. Teaching Bayesian behaviors to video game characters. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, October.
14. Mekhnacha, K., Mazer, E., and Bessière, P. 2001. The design and implementation of a Bayesian CAD modeler for robotic applications. Advanced Robotics 15(1):45-70.
15. Moravec, H. P. 1988. Sensor fusion in certainty grids for mobile robots. AI Magazine 9(2):61-74.
16. Prassler, E., Scholz, J., and Elfes, A. 2000. Tracking multiple moving objects for real-time robot navigation. Autonomous Robots 8(2): 105-116.
17. Streit, R. L. and Luginbuhl, T. E. 1995. Probabilistic multihypothesis tracking. Technical Report 10,428, Naval Undersea Warfare Center Division, Newport, RI.
18. Thrun, S. 1998. Learning metric-topological maps for indoor mobile robot navigation. Artificial Intelligence 99(1):2171.
19. Thrun, S. 2002. Robotic mapping: a survey. Exploring Artificial Intelligence in the New Millennium, Morgan Kaufmann, San Mateo, CA.
20. Wang, C-C., Thorpes, C., and Thrun, S. 2003. On-line simultaneous localization and mapping with detection and tracking of moving objects: theory and results from a ground vehicle in crowded urban areas. Proceedings of the IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September, pp. 842-849.