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VDI Wissensforum GmbH (Hrsg.)

ELIV 2021

Reihe: VDI-Berichte

Band 2384 2021

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L. Gonzales-Fuentes, M. Harihar, M. Cassol Trajectory tracking using Neural Network for Autonomous Driving Systems S. 75-82

„… Trajectory tracking using Neural Network for Autonomous Driving Systems Neural Network …” „… Technologies, Munich 1. Abstract Vehicle trajectory planning and tracking control are fundamental for …” „… planning determines the appropriate path whereas path tracking insures such trajectory is followed …”

C. Cremers, P. Hubertus, R. Laszlo, M. Pfeifle, O. Muratov Augmented Reality Guidance based on 6D Positioning and HD Lanes S. 367-380

„… interfering with the planned trajectory. 1. Introduction AR apps for depicting guidance announcements …” „… account to calculate an optimal trajectory and guidance instructions. Using the 6 DoF pose (and HD maps …” „… Line-Based tracking One of the most often observed objects from HD maps are lane markings. Such information …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… Trajectory tracking using Neural Network for Autonomous Driving Systems …”

doi.org/10.51202/9783181023846

Roberto D. Henschel - Higher-Order Multiple Object Tracking

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Roberto D. Henschel

Higher-Order Multiple Object Tracking

Reihe: Informatik/ Kommunikation

Band 875 2021

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Introduction S. 1-32

„… shown that integrating such models into the tracking formulation yields more accurate trajectory results …” „… consistency of an entire trajectory, which we call Higher-Order Multiple Object Tracking (HO-MOT). Problem …” „… Section 2.7.4. 6 1.2 The Multiple Object Tracking Problem 1.2.2 Tracking-by-detection The predominant …”

HO-MOT with Signal Fusion S. 80-129

„… trajectory and the corresponding IMU data. We denote this task as Video Inertial Multiple People Tracking …” „… , we consider a trajectory γ tracking a person with label k and define γ to be the lower central anchor …” „… proposes a method for HO-MOT using signal fusion. The performance of tracking-by-detection approaches …”

Titelei/Inhaltsverzeichnis S. I-XVIII

„… object tracking). Here, all pairs of detections associated with a trajectory, and not only the …” „… Multiple Object Tracking (MOT) . . . . . . . . . . 4 1.2.2 Tracking-by-detection …” „… problem, the so-called tracking-by-detection paradigm is usually employed: First, object detections are …”

Fundamentals S. 33-79

„… Object detectors MOT methods based on the tracking-by-detection paradigm rely to a great extent on the …” „… Fundamentals 2.2 Probability Theory In order to formulate the tracking task as obtaining the most likely …” „… = x) . (2.3) 2.3 Graph Theory The tracking methods of Chapter 3 and Chapter 4 formulate the MOT task …”

Conclusions S. 165-171

„… current tracking-by-detection methods, significant improvements can be achieved. To this end, in the first …” „… tracking-by-detection paradigm on computed detections. To this end, object detections are fused with additional signals …” „… individual signal, e.g., missing object detections, in contrast to tracking-by-detection based approaches. In …”

Lifted Disjoint Paths S. 130-164

„… its computed trajectory (Assignment+VI+VE) further helps to improve the tracking accuracy, enhancing …” „… ). The approach of Chapter 3 tackles these challenges by extending the traditional tracking-by-detection …” „… Section 4.7.3. 4.7.2 Pre-processing and post-processing As is common for tracking-by-detection, we perform …”

Bibliography S. 172-196

„… , and Luc Van Gool. “Coupled detection and trajectory estimation for multi-object tracking”. In …” „… , Geng Zhang, and Jianbo Shi. “Two-granularity tracking: mediating trajectory and detections graphs for …” „… tracking-by-detection for ROV-based multiple fish tracking”. In: ICPR Workshop on Computer Vision for Analysis of …”

doi.org/10.51202/9783186875105

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VDI Wissensforum GmbH (Hrsg.)

Autoreg 2019

Reihe: VDI-Berichte

Band 2349 2019

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F. Pfitz, M. Braun, C. Ebenbauer Relaxed Barrier MPC for Reference Tracking: Theoretical and experimental studies S. 97-110

„… trajectory or reference output. In addition, it is often desired that the tracking error, i.e. the di erence …” „… and J. Hespanha. Trajectory-tracking and path-following of underactuated autonomous vehicles with …” „… trajectory tracking and path following an and application to the coordinated control of autonomous marine …”

D. Augustin, M. Hofmann, U. Konigorski Prediction of Highway Lane Changes Based on Prototype Trajectories S. 111-128

„… early maneuver detection and uncertainty-aware trajectory prediction for traffic participants …” „… trajectory is predicted combining typical lane change realizations in a mixture model. B-splines based …” „… trajectory adaptations guarantee continuity during transition from actually observed to predicted vehicle …”

J. Ultsch, J. Brembeck, R. de Castro Learning-Based Path Following Control for an Over-Actuated Robotic Vehicle S. 25-46

„… geometric path description in dependency of the arc length. In contrast to trajectory tracking control, path …” „… demonstrate that the RL-based PFC exhibits similar tracking performance as a model-based controller, executed …” „… trajectory. In order to safely follow the path the aim of the motion controller is to minimize the …”

Titelei/Inhaltsverzeichnis S. I-X

„… Barrier MPC for Reference Tracking: Theoretical and experimental studies . . . . . . . .97 F …” „… Complete Concept for Combined Longitudinal and Lateral Trajectory Planning for Automated Driving on …”

Y. Jia, U. Schwarz, D. Görges Energy-Optimal Adaptive Cruise Control based on Model Predictive Control in the Real Driving Emissions Test Cycle S. 145-158

„… predictive control (MPC), which online plans an energy-optimal speed trajectory for the controlled host car …” „… limit and the predicted future speed of the preceding car, to online plan the optimal speed trajectory …” „… , 2019150 lose the tracking of its preceding car, as , , , ) is minimized when the traction force is zero …”

doi.org/10.51202/9783181023495

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VDI Wissensforum GmbH (Hrsg.)

ELIV 2023

Reihe: VDI-Berichte

Band 2423 2023

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M. Pfeifle, N. Zeller, A. vom Felde Combining ADAS and SD Maps for Augmented Reality Guidance S. 135-148

„… planned trajectory, the driver will be warned, and the corresponding road users will be highlighted on a …” „… consideration. For instance, the driver should be informed if the trajectory of vulnerable road users (e.g …” „… ., cyclists) interferes with their trajectory (cf. Figure 2). In the paper, we will explain that it is …”

O. Meyer, B. Böhlen Mastering the software update complexity of modern vehicles S. 199-210

„… be updated individually without affecting other services. For example, in case the Trajectory …” „… additional information on its interface, an update of the Trajectory Planning service can be defined by a …” „… , tracking, and coordination of such dependencies. This ensures that modules function cohesively within the …”

K. Eliasch, Dr. P. Friedel, D. Li, D. Shan Cooperative Perception Services to Improve the Safety of Road Users S. 347-364

„… performance, the Radar could provide more reliable tracking results for a series of objects, like trucks, cars …” „… length and width. There is a collision risk, if the circles overlap each other during the trajectory …”

doi.org/10.51202/9783181024232

Georg Tanzmeister - Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

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Georg Tanzmeister

Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

Reihe: Mess-, Steuerungs- und Regelungstechnik

Band 1246 2016

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Evaluation S. 102-122

„… Chapter 4. Here, it is focused on an evaluation of the grid-based tracking and mapping and the road course …” „… of this work. 6.1 Evaluation of the Grid-based Tracking and Mapping In this section GTAM, presented …” „… commercial object tracking system. If not mentioned otherwise, the evaluation was done with data from a laser …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… – Tracking – Navigation – Road Boundary – Collision Checking and Cost Evaluations – Laser Scanners – Radar …” „… for local mapping, tracking, the detection of principal moving directions, cost evaluations in motion …” „… Tracking and Mapping 10 2.1 Introduction …”

Road Course and Road Boundary Estimation S. 87-101

„… orientation [19, 91, 168] or by using a motion model to calculate a predicted vehicle trajectory [37]. In [168 …” „… trajectory does not always work, however, although it is crucial for all of the above techniques. If the …” „… , such as given by traffic cones, the predicted vehicle trajectory easily passes in between two obstacles …”

Own Publications S. 136

„… . 2014. [8] G. Tanzmeister, J. Thomas, D. Wollherr, and M. Buss, “Grid-based mapping and tracking in …” „… . Buss, “Environment-based trajectory clustering to extract principal directions for autonomous vehicles …”

Bibliography S. 137-154

„… . 400–406. [19] Q. Baig and O. Aycard, “Improving moving objects tracking using road model for laser data …” „… . Wuensche, “Detection and tracking of rural crossroads combining vision and lidar measurements,” in Proc. of …” „… . Bouzouraa and U. Hofmann, “Fusion of occupancy grid mapping and model based object tracking for driver …”

Conclusion S. 123-126

„… validation and tracking. Apart from model fitting, simply relying on the predicted vehicle trajectory has …” „… 7 Conclusion In this thesis new ideas and concepts for tracking and mapping, the extraction of …” „… been presented and validated in experiments with a vehicle in street environments. Grid-based Tracking …”

Appendix S. 127-135

„… section describes the smoother, which was used to generate the trajectory for the autonomous navigation …” „… data set was used for the evaluation of the grid-based tracking and mapping and one for the evaluation …” „… of the road course estimation. A.5.1 Grid-based Tracking and Mapping The data set for the evaluation …”

Grid-based Tracking and Mapping S. 10-39

„… 2 Grid-based Tracking and Mapping A robust representation of the environment is essential for any …” „… performance of the whole robot system. Mapping and tracking are often done separately yielding different …” „… static and the dynamic environment in a uniform representation termed Grid-based Tracking and Mapping …”

doi.org/10.51202/9783186246080

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