2021 IEEE International Conference on Acoustics, Speech and Signal Processing

6-11 June 2021 • Toronto, Ontario, Canada

Extracting Knowledge from Information

2021 IEEE International Conference on Acoustics, Speech and Signal Processing

6-11 June 2021 • Toronto, Ontario, Canada

Extracting Knowledge from Information
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Paper Detail

Paper IDSS-12.5
Paper Title Extended Object Tracking with Automotive Radar Using B-Spline Chained Ellipses Model
Authors Gang Yao, University of Connecticut, United States; Pu Wang, Karl Berntorp, Hassan Mansour, Petros Boufounos, Philip Orlik, Mitsubishi Electric Research Laboratories (MERL), United States
SessionSS-12: Recent Advances in mmWave Radar Sensing for Autonomous Vehicles
LocationGather.Town
Session Time:Thursday, 10 June, 15:30 - 16:15
Presentation Time:Thursday, 10 June, 15:30 - 16:15
Presentation Poster
Topic Special Sessions: Recent Advances in mmWave Radar Sensing for Autonomous Vehicles
IEEE Xplore Open Preview  Click here to view in IEEE Xplore
Abstract This paper introduces a B-spline chained ellipses model representation for extended object tracking (EOT) using high-resolution automotive radar measurements. With offline automotive radar training datasets, the proposed model parameters are learned using the expectation-maximization (EM) algorithm. Then the probabilistic multi-hypothesis tracking (PMHT) along with the unscented transform (UT) is proposed to deal with the nonlinear forward-warping coordinate transformation, the measurement-to-ellipsis association, and the state update step. Numerical validation is provided to verify the effectiveness of the proposed EOT framework with automotive radar measurements.