Multi-Sensor Adaptive Birth for Autonomous Driving Labeled RFS Filters using Doppler Measurements

Terell L. Dale, Dimitri Cugini, Tod M. Schuck, Ram M. Narayanan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Alternative proposal distributions for Monte Carlo importance sampling-based, multi-sensor, measurement adaptive track initiation unrestricted to invertible measurement functions have been established to achieve scalable track initialization for labeled random finite set filters. Such proposal distributions provide an efficient means to expand the observable state space in track initialization by way of uninvertible measurements of relative object velocity. This paper proposes an augmented proposal distribution for Monte Carlo importance sampling-based, multi-sensor measurement adaptive track initiation that improves joint measurement pseudolikelihood approximation using augmented measurements of object velocity. The solution for a Doppler-only measurement function is provided and autonomous driving simulation results are shown to verify the resultant tracking performance increase.

Original languageEnglish (US)
Title of host publicationNAECON 2024 - IEEE National Aerospace and Electronics Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages68-73
Number of pages6
ISBN (Electronic)9798350367621
DOIs
StatePublished - 2024
Event76th Annual IEEE National Aerospace and Electronics Conference, NAECON 2024 - Dayton, United States
Duration: Jul 15 2024Jul 18 2024

Publication series

NameProceedings of the IEEE National Aerospace Electronics Conference, NAECON
ISSN (Print)0547-3578
ISSN (Electronic)2379-2027

Conference

Conference76th Annual IEEE National Aerospace and Electronics Conference, NAECON 2024
Country/TerritoryUnited States
CityDayton
Period7/15/247/18/24

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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