Likelihood-Field-Model-Based Dynamic Vehicle Detection and Tracking for Self-Driving

IEEE Transactions on Intelligent Transportation Systems

Volumn 17, Issue 11, 2016, Pages 3142-3158

  Chen, Tongtong ^a   Wang, Ruili ^b   Dai, Bin ^a   Liu, Daxue ^a   Song, Jinze ^a  

^a NATIONAL UNIVERSITY OF DEFENSE TECHNOLOGY   (China)

^b MASSEY UNIVERSITY   (New Zealand)

Author keywords

Autonomous land vehicle (ALV); Bayesian filter; likelihood field based vehicle measurement model; scaling series algorithm; vehicle detection and tracking

Indexed keywords

ALGORITHMS; IMPORTANCE SAMPLING; INERTIAL NAVIGATION SYSTEMS; MOTION COMPENSATION; MOTION ESTIMATION; NAVIGATION SYSTEMS; OBJECT DETECTION; PROBLEM SOLVING; TRACKING (POSITION); URBAN PLANNING;

AUTONOMOUS LAND VEHICLES; DYNAMIC BACKGROUND; DYNAMIC URBAN ENVIRONMENTS; EGO-MOTION COMPENSATION; LOCALIZATION PROBLEMS; MEASUREMENT MODEL; STATIC BACKGROUND; URBAN ENVIRONMENTS;

VEHICLES;

EID: 84966290874     PISSN: 15249050     EISSN: None     Source Type: Journal    
DOI: 10.1109/TITS.2016.2542258     Document Type: Article

References (38)

1. C. C. Wang, C. Thorpe, S. Thrun, M. Hebert, and H. Durrant-Whyte, "Simultaneous localization, mapping and moving object tracking," Int. J. Robot. Res., vol. 26, no. 9, pp. 889-916, Sep. 2007.
2. C. Coue, C. Pradalier, C. Laugier, T. Fraichard, and P. Bessiere, "Bayesian occupancy filter for multitarget tracking: An automotive application," Int. J. Robot. Res., vol. 25, no. 1, pp. 19-30, Jan. 2006.
3. T. Gindele, S. Brechtel, J. Schroder, and R. Dillmann, "Bayesian occupancy grid filter for dynamic environments using prior map knowledge," in Proc. IEEE IV Symp., 2009, pp. 669-676.
4. A. Negre, L. Rummelhard, and C. Laugier, "Hybrid sampling Bayesian occupancy filter," in Proc. IEEE IV Symp., 2014, pp. 1307-1312.
5. R. Danescu, F. Oniga, and S. Nedevschi, "Modeling and tracking the driving environment with a particle based occupancy grid," IEEE Trans. Intell. Transp. Syst., vol. 12, no. 4, pp. 1331-1342, Dec. 2011.
6. J. Moras, V. Cherfaoui, and P. Bonnifait, "Moving objects detection by conflict analysis in evidential grid," in Proc. IEEE IV Symp., 2011, pp. 1122-1127.
7. M. Schutz, N. Appenrodt, J. Dickmann, and K. Dietmayer, "Occupancy grid map-based extended object tracking," in Proc. IEEE IV Symp., 2014, pp. 1205-1210.
8. R. Jungnickel and F. Korf, "Object tracking and dynamic estimation on evidential grids," in Proc. 17th ITSC, 2014, pp. 2310-2316.
9. G. Tanzmeister, J. Thomas, D. Wollherr, and M. Buss, "Grid-based mapping and tracking in dynamic environments using a uniform evidential environment representation," in Proc. IEEE ICRA, 2014, pp. 6090-6095.
10. J. Leonard et al., "A perception-driven autonomous urban vehicle," J. Field Robot., vol. 25, no. 10, pp. 727-774, Oct. 2008.
11. A. Azim and O. Aycard, "Detection,classification and tracking of moving objects in a 3D environments," in Proc. IEEE IV Symp., 2012, pp. 802-807.
12. R. Kaestner, J. Maye, Y. Pilat, and R. Siegwart, "Generative object detection and tracking in 3D range data," in Proc. IEEE ICRA, 2012, pp. 3075-3081.
13. Y. Yang, G. Yan, H. Zhu, M. Y. Fu, and M. L. Wang, "Moving object detection under dynamic background in 3D range data," in Proc. IEEE IV Symp., 2014, pp. 394-399.
14. M. Himmelsbach and H. J. Wuensche, "Tracking and classification of arbitrary objects with bottom-up/top-down detection," in Proc. IEEE Intell. Veh. Symp., 2012, pp. 577-582.
15. J. Choi, S. Ulbrich, B. Lichte, and M. Maurer, "Multi-tracking using a 3D-lidar sensor for autonomous vehicles," in Proc. IEEE 16th ITSC, 2013, pp. 881-886.
16. D. Z.Wang, I. Posner, and P. Newman, "Model-free detection and tracking of dynamic objects with 2D lidar," Int. J. Robot. Res., vol. 34, no. 7, pp. 1039-1063, Jun. 2015.
17. F.Moosmann and C. Stiller, "Joint self-localization and tracking of generic objects in 3D range data," in Proc. IEEE ICRA, 2013, pp. 1138-1144.
18. D. Held, J. Levinson, and S. Thrun, "Precision tracking with sparse 3D and dense color 2D data," in Proc. IEEE ICRA, 2013, pp. 1138-1145.
19. D. Held, J. Levinson, S. Thrun, and S. Savarese, "Robust real-time tracking combining 3D shape, color, and motion," Int. J. Robot. Res., vol. 35, no. 1-3, pp. 30-49, Jan. 2016.
20. D. D. Morris, R. Hoffman, and P. Haley, "A view-dependent adaptive matched filter for ladar-based vehicle tracking," in Proc. 14th Int. Conf. Robot. Appl., 2009, pp. 1-9.
21. A. Petrovskaya and S. Thrun, "Model based vehicle detection and tracking for autonomous urban driving," Auton. Robots, vol. 26, no. 2, pp. 123-139, Apr. 2009.
22. N. Wojke and M. Haselich, "Moving vehicle detection and tracking in unstructured environments," in Proc. IEEE ICRA, 2012, pp. 3082-3087.
23. T. D. Vu and O. Aycard, "Laser-based detection and tracking moving objects using data-driving Markov chain Monte Carlo," in Proc. IEEE ICRA, 2009, pp. 3800-3806.
24. Z. Liu, D. Liu, and T. Chen, "Vehicle detection and tracking with 2D laser range finders," in Proc. 6th Int. CISP, 2013, pp. 1006-1013.
25. K. Granstrom, S. Reuter, D. Meissner, and A. Scheel, "A multiple model PHD approach to tracking of cars under an assumed rectangular shape," in Proc. 17th Int. Conf. Inf. Fusion, 2014, pp. 1-8.
26. B. Fortin, R. Lherbier, and J. C. Noyer, "A model-based joint detection and tracking approach for multi-vehicle tracking with lidar sensor," IEEE Trans. Intell. Transp. Syst., vol. 16, no. 4, pp. 1883-1895, Aug. 2015.
27. Q. Baig, M. Perrollaz, J. B. D. Nascimento, and C. Laugier, "Using fast classification of static and dynamic environment for improving Bayesian occupancy filter (BOF) and tracking," in Proc. ICARCV, 2012, pp. 656-661.
28. F. Moosmann, O. Pink, and C. Stiller, "Segmentation of 3D lidar data in non-flat urban environments using a local convexity criterion," in Proc. IEEE Intell. Veh. Symp., 2009, pp. 215-220.
29. A. Petrovskaya and S. Thrun, "Efficient techniques for dynamic vehicle detection," in Proc. 11th ISER, 2009, pp. 79-91.
30. S. Thrun, W. Burgard, and D. Fox, Probabilistics Robotics. Cambridge, MA, USA: MIT Press, 2005.
31. A. Petrovskaya and O. Khatib, "Global localization of objects via touch," IEEE Trans. Robot., vol. 27, no. 3, pp. 569-585, Jun. 2011.
32. T. Chen et al., "Likelihood-field-model-based vehicle pose estimation with velodyne," in Proc. IEEE 18th ITSC, 2015, pp. 296-302.
33. T. Chen, B. Dai, D. Liu, H. Fu, and J. Song, "Likelihood-field-modelbased dynamic vehicle detection with velodyne," in Proc. 7th Int. Conf. IHMSC, 2015, pp. 497-502.
34. T. Chen, B. Dai, D. Liu, and J. Song, "Likelihood-field-model-based vehicle tracking with velodyne," in Proc. 8th Int. CISP, 2015, pp. 1374-1379.
35. A. Geiger, P. Lenz, C. Stiller, and R. Urtasun, "Vision meets robotics: The KITTI dataset," Int. J. Robot. Res., vol. 32, no. 11, pp. 1231-1237, Sep. 2013.
36. R. Rusu and S. Cousins, "3D is here: Point cloud library (PCL)," in Proc. IEEE ICRA, 2011, pp. 1-4.
37. T. Chen, B. Dai, R. Wang, and D. Liu, "Gaussian-process-based real-time ground segmentation for autonomous land vehicle," J. Intell. Robot. Syst., vol. 76, no. 3/4, pp. 563-582, Dec. 2014.
38. K. Klasing, D. Wollherr, and M. Buss, "A clustering method for efficient segmentation of 3Dlaser data," in Proc. IEEE ICRA, 2008, pp. 4043-4048.