Real-time lidar and radar fusion for road-objects detection and tracking

2021 ◽  
Vol 24 (5) ◽  
pp. 517
Author(s):  
Wael Farag
Keyword(s):  
Real Time ◽  
Detection And Tracking ◽  
Objects Detection

scholarly journals Multiple Road-Objects Detection and Tracking for Autonomous Driving

2021 ◽  
Author(s):  
Wael Farag ◽  
Keyword(s):  
Kalman Filter ◽  
Real Time ◽  
High Performance ◽  
Unscented Kalman Filter ◽  
Measurement Data ◽  
Autonomous Driving ◽  
Estimation Accuracy ◽  
Time Performance ◽  
Detection And Tracking ◽  
Objects Detection

In this paper, a real-time road-Object Detection and Tracking (LR_ODT) method for autonomous driving is proposed. The method is based on the fusion of lidar and radar measurement data, where they are installed on the ego car, and a customized Unscented Kalman Filter (UKF) is employed for their data fusion. The merits of both devices are combined using the proposed fusion approach to precisely provide both pose and velocity information for objects moving in roads around the ego car. Unlike other detection and tracking approaches, the balanced treatment of both pose estimation accuracy and its real-time performance is the main contribution in this work. The proposed technique is implemented using the high-performance language C++ and utilizes highly optimized math and optimization libraries for best real-time performance. Simulation studies have been carried out to evaluate the performance of the LR_ODT for tracking bicycles, cars, and pedestrians. Moreover, the performance of the UKF fusion is compared to that of the Extended Kalman Filter fusion (EKF) showing its superiority. The UKF has outperformed the EKF on all test cases and all the state variable levels (-24% average RMSE). The employed fusion technique show how outstanding is the improvement in tracking performance compared to the use of a single device (-29% RMES with lidar and -38% RMSE with radar).

scholarly journals Key parameters for genomics-based real-time detection and tracking of multidrug-resistant bacteria: a systematic analysis

2021 ◽  
Author(s):  
Claire L Gorrie ◽  
Anders Gonçalves Da Silva ◽  
Danielle J Ingle ◽  
Charlie Higgs ◽  
Torsten Seemann ◽  
...  
Keyword(s):  
Real Time ◽  
Multidrug Resistant ◽  
Resistant Bacteria ◽  
Multidrug Resistant Bacteria ◽  
Systematic Analysis ◽  
Detection And Tracking ◽  
Real Time Detection

Real time detection and tracking of Gauzes by RFID UWB technique

2010 ◽  
Author(s):  
S. Boncinelli ◽  
P. Citti ◽  
E. Del Re ◽  
G. Campatelli ◽  
L. Pierucci ◽  
...  
Keyword(s):  
Real Time ◽  
Detection And Tracking ◽  
Real Time Detection
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