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Sascha Steyer - Grid-Based Object Tracking

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Sascha Steyer

Grid-Based Object Tracking

Series: Mess-, Steuerungs- und Regelungstechnik

Volume 1272 2021

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Object State Estimation S. 101-126

„… 5 Object State Estimation The previous chapters have presented how measurement data are processed …” „… high-level object state estimation, i.e., the temporal filtering on the object-level. Thereby the associated …” „… object state estimation. A UKF-based estimation of the dynamic motion state is presented, where the …”

Introduction S. 1-12

„… only a part of the object state, a state estimation with a tracking over time is required for …” „… ). (f) Grid-based object tracking (temporally filtered object state estimation). (g)/(h) Camera images …” „… the object state estimation. To utilize the full potential of that approach, novel techniques are …”

Conclusion S. 165-168

„… , and object state estimation have been addressed in this work. Novel concepts have been proposed for …” „… information of the predicted tracks commonly fail. Object State Estimation: The associated occupied grid cells …” „… . However, as opposed to other object tracking approaches, the presented object state estimation has been …”

Titelei/Inhaltsverzeichnis S. I-XII

„… – Moving Object Detection – Object State Estimation – Object Tracking – Occupancy Grid Mapping – Sensor …” „… State Estimation for Highly Dynamic Maneuvers . . . . . 152 6.3.3 Object Shape Estimation and …” „… association N c ε ε-neighborhood of a cell c for density-based clustering Object State Estimation a …”

Evaluation S. 127-164

„… object state estimation as well as the object classification, is summarized in Fig. 6.2g. 6.1.3 Primary …” „… Highly Dynamic Maneuvers In this section, the dynamic state estimation of the object tracking is …” „… context of this thesis, together with the proposed object state estimation. Full Braking Scenario The …”

Object Extraction and Association S. 79-100

„… plausibility to further increase the robustness of the association. The object state estimation, including the …” „… object state estimation in Chapter 5. 4.3 Cell Association for Existing Object Tracks As motivated before …” „… association probability based on the predicted object state. (c) Estimation of the dynamic grid map. (d …”

Dynamic Grid Mapping and Particle Tracking S. 39-78

„… is filtered and thus correlated. Hence, as discussed in more detail in the object state estimation in …” „… particle tracking for the dynamic state estimation in changing environments with moving objects. The …” „… contradicting hypotheses. A particle-based velocity estimation is used to determine the dynamic state of the …”

Measurement Grid Representation and Fusion S. 13-38

„… radar-based object state estimation in Section 5.4, the position of the radar sensor origin xs is also …” „… the fixed world has a static state that does not change, i.e., no moving objects occur in the local …” „… detect moving objects as discussed separately in the dynamic grid estimation of the next chapter. The …”

Own Publications S. 169

„… Object Tracking with Nonlinear Dynamic State and Shape Estimation. IEEE Trans. Intell. Transp. Syst …” „… Association for Grid-Based Object Tracking Using Particle Labeling. In Proc. IEEE Intell. Transp. Syst. Conf …” „… ., pages 3036–3043, 2018. [3] S. Steyer, G. Tanzmeister, and D. Wollherr. Object Tracking Based on …”

Bibliography S. 170-186

„… . Effertz. Improved object tracking from detailed shape estimation using object local grid maps with stereo …” „… filtering and nonlinear estimation. Proc. IEEE, 92(3):401–422, 2004. [56] R. Jungnickel and F. Korf. Object …” „… , and K. Dietmayer. Instantaneous full-motion estimation of arbitrary objects using dual Doppler radar …”

doi.org/10.51202/9783186272089

Michael Aeberhard - Object-Level Fusion for Surround Environment Perception in Automated Driving Applications

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Michael Aeberhard

Object-Level Fusion for Surround Environment Perception in Automated Driving Applications

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 804 2017

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State and Covariance S. 64-92

„… the global object, as it can improve the accuracy of the global state estimation. At the same time, it …” „… from the idea of state-based estimation filter, where the states of an object are allowed to converge …” „… 4 State and Covariance The object model consists of a state estimate, x̂ and its error covariance P …”

Existence Probability S. 93-115

„… . Discussion Next to the estimation of an object’s state and covariance, it is just as important to calculate a …” „… . Another approach is to more loosely decouple existence probability estimation with state estimation, where …” „… processing flow of decoupled existence probability estimation and state estimation. In this section, a …”

Evaluation S. 133-151

„… consistency of the state estimation of the fused global object and the sensors. The 95% confidence interval is …” „… highways. Two main evaluation scenarios are considered: object estimation accuracy with ground truth data …” „… evaluate the state estimation, existence probability and classification against a single known vehicle in …”

Titelei/Inhaltsverzeichnis S. I-XVI

„… . . . . . . . . . . . . . . . . . . . . . . . 136 7.2.2 State Estimation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136 7.2.3 Existence …” „… Normal vector to a decision boundary x State vector of an object xa State vector subset of x of an object …” „… includes the object’s dynamic state, existence probability and classification is defined as a …”

Synchronous Track-to-Track Fusion Algorithms S. 155-161

„… (A.1) can be seen as the current state estimation from sensor j z → E [ x | Zj ] = x̂j. (A.4) The …” „… predicted “measurement” z is the expected value of the state estimation from sensor j, but conditioned on …” „… global, state estimate after combining the state estimations from sensors i and j x̂G = x̂i +Pi ( Pi +Pj …”

Sensor Data Fusion Architectures S. 27-45

„… , and the dimension uncertainty, dSσ2 . Parallel to state vector estimation, the object’s existence …” „… for accurate state estimation fusion. Practicality Theory and practice can sometimes be quite a world …” „… suggest an object interface which is complete in terms of describing an object’s state, detection quality …”

Introduction S. 1-26

„… state, but also quality and uncertainty attributes such as its existence and classification. • Object …” „… an object’s dimensions. • A simple Bayes formulation for object existence estimation at the …” „… sensor existence estimation performance. • An example Gaussian approach to sensor-level object …”

Conclusion and Discussion S. 152-154

„… applications. A complete object representation is formulated, where object state, existence and classification …” „… setup with up to 12 sensors, where the state, existence and classification performance of the object …” „… a basis for a better estimation of an object’s shape and position [13, 146, 260], similar to the …”

References S. 172-202

„… ., “Improved Object Tracking from Detailed Shape Estimation Using Object Local Grid Maps with Stereo,” in IEEE …” „… Siegemund, J., “A Multi-Cue Approach for Stereo-Based Object Confidence Estimation,” in IEEE/RSJ …” „… Fusion for Full-Speed ACC State Estimation,” in 4th International Workshop on Intelligent Transportation …”

Classification S. 116-132

„… 6 Classification Besides the state and covariance estimation and the existence probability, the …” „… determined using a simple state machine or other method which keeps track if an object has moved or not. The …” „… 6.2 Fusion Discussion Classification estimation completes the object estimation problem as defined by …”

Evaluation Scenario Descriptions S. 167-171

„… , focusing on the collection of motorcycle object data. Another scenario, recorded in real highway traffic …” „… was used to collect data on typical highway traffic objects. In total, 15,920 cycles of data was …” „… surround object detection algorithms presented in this thesis. The ground truth consists of highly accurate …”

doi.org/10.51202/9783186804129

Oliver Müller - Graphical Model MAP Inference with Continuous Label Space in Computer Vision

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Oliver Müller

Graphical Model MAP Inference with Continuous Label Space in Computer Vision

Series: Informatik/ Kommunikation

Volume 860 2018

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Related Work S. 15-24

„… the state-of-the-art in part-based object tracking and pose estimation in section 2.1. Following that …” „… automatically detected using previously trained object detectors. Object tracking and pose estimation are highly …” „… graphical models (PGMs) with a continuous state space. Retrieving the most probable pose or object …”

Introduction S. 1-14

„… objects. Furthermore, we evaluate our method on a state-of-the-art online object tracking benchmark …” „… graphical models. Our proposed multi-part object tracker framework is evaluated on a state-of-the-art online …” „… online object tracking. The focus is set on developing efficient inference algorithms in continuous state …”

Tracking S. 78-106

„… known approaches for pose estimation and detection of highly articulated objects such as humans. They …” „… . 5.3.1 Joint Pose Estimation and Segmentation Object tracking over a sequence of frames s = 1,...,S can …” „… . The second case is non-rigid object tracking with severe articulation. Here, bounding-box estimation …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… patch i x indicator vector over object poses X pose pose state space X seg segmentation state space y …” „… online tracking, visual object tracking, pose estimation XIV Symbols and Notation Kurzfassung Das Ziel …” „… Objektverfolgung – Poseschätzung This thesis deals with monocular object tracking from video sequences. The goal is …”

Conclusions S. 107-110

„… articulated objects. The first contribution of this thesis is the extension of the state-of-the-art on …” „… inference in continuous-state probabilistic graphical models (PGMs) has been adressed. The guiding …” „… state-of-the-art inference methods and the incorporation of prior knowledge about the factor potentials of the PGM …”

Stochastic Inference in Probabilistic Graphical Models S. 56-77

„… joint state space requires an infeasibly large number of particles due to the curse of dimensionality. b …” „… with a state-of-the-art convergent message-passing algorithm. This increases global consensus of the …” „… ) Assuming discrete and finite state spaces Y l, one can in Eq. (4.3) factor out the max-operation over Y l …”

Fundamentals S. 25-55

„… with small letters (e.g. x), from a (measurable) state space x ∈ X . Let p(x) denote either a …” „… of a random variable Xs is denoted with xs and X s is its state space such that xs ∈ X s. The joint …” „… realization, or configuration, of G is x = (x1, ..., x|V|)T, and the joint state space is the cartesian …”

doi.org/10.51202/9783186860101

Gerald Sequeira - Prediction based activation of vehicle safety systems – A contribution to improve occupant safety by validation of pre-crash information and crash severity plus restraint strategy prediction

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Gerald Sequeira

Prediction based activation of vehicle safety systems – A contribution to improve occupant safety by validation of pre-crash information and crash severity plus restraint strategy prediction

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 817 2022

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State of the Art S. 8-25

„… measure of ease to112. State of the Artdetect a particular object using radar. Two vehicles of the same …” „… , orientation and velocities. Hence, estimating the stateof the objects in the future based on their states …” „… representing the shape of212. State of the Artthe vehicle. Another technique for estimation of vehicle geometry …”

Introduction S. 1-7

„… estimationmodule is to estimate the object parameters such as geometry, velocity, angleof approach and position …” „… informationto predict the forward-in-time or future states of the vehicle’s surroundings. Sometimes inliterature …” „… throughsensors to the safety actuators through different subsystems such as data fusionand object parameter …”

Opponent-object Geometry: Simplification and Estimation S. 54-87

„… Chapter 4Opponent-object Geometry:Simplification and EstimationAbstractA novel methodology for …” „… . (4.18)694. Opponent-object Geometry: Simplification and EstimationFigure 4.5: Geometrical representation of …” „… )+ 2efp′ + f 2 − r2fe = 0. (4.55)754. Opponent-object Geometry: Simplification and EstimationFigure 4.6 …”

Titelei/Inhaltsverzeichnis S. I-X

„… . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524 Opponent-object Geometry: Simplification and Estimation 544.1 Geometry of objects in vehicle’s …” „… – CrashschwereschätzungKeywords: Predictive Safety System – Crash Validation – Restraint Strategy prediction – Contour estimation …” „… . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 State of the Art 82.1 Passive safety sensors …”

References S. 126-162

„… , ‘Comparison and evaluation of algorithms forlidar-based contour estimation in integrated vehicle safety,’ IEEE …” „… . Sequeira, S. Afraj, M. Surve, and T. Brandmeier, ‘Lidar point cloudanalysis for vehicle contour estimation …” „… severity estimation in frontal crash scenarios,’ IOPConference Series: Materials Science and Engineering …”

Crash Severity and Restraint Strategy Prediction S. 88-122

„… opponent class estimated bythe data fusion and object parameter estimation module (refer to Figure 1.3 …” „… an ego-vehicle and 5 opponent objects (two pas-senger cars, two pedestrians, and one cyclist) in the …” „… the objects is inevitable. The objects with which the collision of ego-vehicleis inevitable are termed …”

Validation of Pre-Crash Information S. 26-53

„… parameter estimation and further reducethe variation and uncertainties in the crash parameters to the …” „… InductionA magnet is an object that has a special property to attract certain materials suchas iron, steel …” „… crash applications). In thenormal driving state, there is no electrical contact between the elements of …”

doi.org/10.51202/9783186817129

VDI Wissensforum GmbH - Messunsicherheit praxisgerecht bestimmen 2017 und Prüfprozesse in der industriellen Praxis 2017

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VDI Wissensforum GmbH (ed.)

Messunsicherheit praxisgerecht bestimmen 2017 und Prüfprozesse in der industriellen Praxis 2017

Series: VDI-Berichte

Volume 2319 2017

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B. Naujoks, T. Engler, M. Michaelis, H.-J. Wuensche Measurement Uncertainty and its Influence on Dynamic Object Tracking in Autonomous Driving S. 111-122

„… algorithms since decades [1, 2]. Dynamic object tracking can be seen as an estimation problem, which …” „… determines the value of an unknown quantity, the state of the dynamic object, from several observations. The …” „… The Kalman Filter is an optimal estimator for linear state estimation problems. Unfortunately, only …”

doi.org/10.51202/9783181023198

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