VDI Verlag eLibrary

Grid-Based Object Tracking

Sascha Steyer

Reihe: Mess-, Steuerungs- und Regelungstechnik

Band 1272 2021

Treffer in den folgenden Teilen:

„… process models as well as an applicable filtering tradeoff between increasing the robustness against noise …” „… measurement data by specific features. A robust object tracking further requires a temporal filtering over …” „… in the context of autonomous driving, is the robust detection and temporal filtering of all kinds of …”

Conclusion S. 165-168

„… environment model is required that properly represents moving objects, static obstacles, and passable …” „… freespace, which has to be robustly estimated by processing measurement data of multiple sensors – those …” „… occlusions. Thereby measurement data of multiple lidar, radar, and camera sensors are fused, obtaining a full …”

Evaluation S. 127-164

„… occupancy filtering is generally designed such that an occupied cell converges toward static with multiple …” „… real sensor data in various traffic scenarios of multiple test vehicles during the last years. Thereby …” „… multiple lidar, radar, and camera sensors form the input of this work. These measurement data are …”

Object State Estimation S. 101-126

„… filtering. Their approach is extended in [136] by a multiple hypothesis tracking (MHT) [17] using an …” „… interacting multiple model (IMM) [146] approach with a fixed set of sixteen different motion models along …” „… high-level object state estimation, i.e., the temporal filtering on the object-level. Thereby the associated …”

Bibliography S. 170-186

„… , B.-T. Vo, B.-N. Vo, and A. Scheel. Multiple Extended Target Tracking with Labelled Random Finite Sets …” „… . Conf. Comput. Vision, pages 850–865, 2016. 170 [17] S. S. Blackman. Multiple hypothesis tracking for …” „… multiple target tracking. IEEE Aerosp. Electron. Syst. Mag., 19(1):5–18, Jan. 2004. [18] T. Bonkenburg …”

Object Extraction and Association S. 79-100

„… clustering is performed, in which multiple sub-clusters of an object are extracted and finally checked for …” „… Association approaches and applications. The same applies to the temporal filtering of objects for a robust …” „… measurements, e.g., [80, 135–137]. This concept is used in multiple approaches to classify parts of the …”

Dynamic Grid Mapping and Particle Tracking S. 39-78

„… by an adapted evidential filtering, which is also used to implicitly model the temporal transitions …” „… multiple hypotheses, a consistent filtering of evidence masses with a persistent grid mapping accumulation …” „… previous chapter. That strategy is also used for the temporal filtering, resulting in a cell-wise …”

Measurement Grid Representation and Fusion S. 13-38

„… input for the temporal filtering of the dynamic grid mapping and the object tracking that are addressed …” „… in the subsequent chapters. 2.1 Introduction The concept of occupancy grids is a popular way to model …” „… a graphics processing unit (GPU), as presented in [50, 147]. Thereby the authors model range-based …”

Titelei/Inhaltsverzeichnis S. I-XII

„… accumulate measurement data by a dynamic occupancy grid model, whereas moving objects are extracted …” „… Width of Box Model . . . . . . 123 5.6 Results and Summary …” „… . Abbreviations CTRA Constant Turn Rate and Acceleration (motion model) DST Dempster–Shafer Theory of evidence [34 …”

doi.org/10.51202/9783186272089

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Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems

Matthias Schreiner

Reihe: Verkehrstechnik/Fahrzeugtechnik

Band 797 2016

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Titelei/Inhaltsverzeichnis S. I-XXII

„… – Collision Avoidance – Criticality Assessment – Environment Representation – Multiple Model Filtering …” „… . . . . . . . . . . . . . . . . 31 3.1.5 Unscented Kalman Filter . . . . . . . . . . . . . . . 33 3.1.6 Multiple Model Optimal …” „… Bayesian Filter . . . . . . . 36 3.1.7 Interacting Multiple Model Filter . . . . . . . . . . . 41 3.1.8 …”

Bibliography S. 221-254

„… . Multiple Model Framework of Adaptive Extended Kalman Filtering for Predicting Vehicle Location. In Proc. of …” „… Multiple Model Algorithm for Systems with Markovian Switching Coefficients. IEEE Transactions on Automatic …” „… Intelligent Vehicles. ROBOMECH Journal, 1(1):1–14, July 2014. [150] X.-R. Li and Y. Bar-Shalom. Multiple-Model …”

Bayesian Inference for Nonlinear Filtering Tasks S. 18-66

„… KF [247]. 36 3 Bayesian Inference for Nonlinear Filtering Tasks 3.1.6 Multiple Model Optimal Bayesian …” „… Gaussian representation afterwards. • Interacting Multiple Model (IMM) Filters [36] approximate the …” „… multiple model methods, see for example [18,53,153]. In the Bayesian framework, this general inference task …”

Grid Mapping in Dynamic Environments S. 67-102

„… acceleration and yaw rate. This would, however, undermine the advantages of a multiple model filtering. As …” „… degrade achievable filtering results due to the excessive competition between unnecessary models [150]. If …” „… therefore better fit the random motion model. The reason why the chosen model set, along with a multiple …”

Introduction S. 1-5

„… filter combination for tracking jump Markov nonlinear systems in clutter. – Novel multiple model tracking …” „… choice and development of an adequate environment model, i.e. a suitable representation of the driving …” „… environment. The environment model provides a holistic view of the current traffic scene and constitutes a …”

Environment Representations for ADAS S. 6-17

„… therein thus needs to perform some kind of abstraction and build a simplified model of its environment …” „… . Such an environment model is an internal representation of the surroundings of a mobile robot, e.g. an …” „… intelligent vehicle. The model always has to be adapted to the tasks and the type of environment the system is …”

Prediction and Criticality Assessment S. 132-191

„… the future, the more assumptions have to be made, which tempts to model the average, sensible driver …” „… models into models considering interactions and ones that do not. 3We limit the discussion to vehicle …” „… Result Quantitative Quantitative Qualitative System description Kinematic and dynamic motion models …”

doi.org/10.51202/9783186797124

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

Michael Aeberhard

Reihe: Verkehrstechnik/Fahrzeugtechnik

Band 804 2017

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Sensor Data Fusion Architectures S. 27-45

„… feature space and fused using a multiple model filtering algorithm. The features, however, are very sensor …” „… applicationspecific filtering properties and models of the sensor data. However, the interfaces between the sensors …” „… object model, is then tracked over time using common filtering and tracking algorithms [26] to generate …”

References S. 172-202

„… , H. and Bar-Shalom, Y., “The Interacting Multiple Model Algorithm for Systems with Markovian …” „… User Tracking at Intersections Using a Multiple-Model PHD Filter,” in IEEE Intelligent Vehicles …” „… Pedestrian Classification using Part-based Classifiers and Restricted Boltzmann Machine Model,” in IEEE …”

Titelei/Inhaltsverzeichnis S. I-XVI

„… . GPS Global Positioning System. IMM Interacting Multiple Model. IPDA Integrated Probabilistic Data …” „… sensors for such complex systems. In this thesis, an environment model approach for the detection of …” „… Modular Sensor Data Fusion Architecture . . . . . . . . . . . . . 38 2.2.1 Object Model …”

State and Covariance S. 64-92

„… improved by using an Interacting Multiple Model (IMM) filter, introduced in [45]. The IMM filter estimates …” „… 4 State and Covariance The object model consists of a state estimate, x̂ and its error covariance P …” „… accomplished in the follow steps: sensor measurement, feature extraction, data association, filtering and track …”

Conclusion and Discussion S. 152-154

„… architecture with a high-level, or object-level, approach for model-based object detection. The goal was to …” „… to the problem of object detection and fusion using multiple sensors for ADAS and automated driving …” „… information matrix fusion algorithm performs exactly the same as a low-level central filtering approach. For …”

doi.org/10.51202/9783186804129

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Distributed Edge Intelligence Enabled Wireless Communication Systems Serving Industrial Applications

Sun Danfeng

Reihe: Mess-, Steuerungs- und Regelungstechnik

Band 1278 2022

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Conclusions and Future Work S. 83-84

„… . The MTL model furtheraddressed multiple tasks instead of only dependability scoring and also leveraged …” „… multiple devices and a whole WCS which is a distributed scenario. Comparingwith the MTL model on the …” „… optimiza-tion for WCS control.In the dependability assessment branch, the author proposed three models, i.e …”

Titelei/Inhaltsverzeichnis S. I-XII

„… short-term memoryMF-EPA Matched filtering precoder with equal power allocationMIMO Multiple …” „… allocation model,Matched Filtering precoder with equal power allocation model, and generating precoder …” „… given datasets, for which a series of AI methods are proposed, namely, deep autoencoder-based model …”

doi.org/10.51202/9783186278081

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Higher-Order Multiple Object Tracking

Roberto D. Henschel

Reihe: Informatik/ Kommunikation

Band 875 2021

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Bibliography S. 172-196

„… . “Multiple Hypothesis Tracking Revisited: Blending in Modern Appearance Model”. In: Proceedings of the IEEE …” „… Xiong. “Enhancing Detection Model for Multiple Hypothesis Tracking”. In: The IEEE Conference on Computer …” „… Automation (ICRA). 2018. [6] Gültekin Gündüz and Tankut Acarman. “A lightweight online multiple object …”

Introduction S. 1-32

„… paths formulation is a natural model for multiple object tracking. This model is able to obtain …” „… lifted disjoint paths problem (LDP), a natural but NP-hard model for multiple object tracking (MOT). Our …” „… model, which we call tree tracklets. While recent multiple people trackers model the association problem …”

HO-MOT with Signal Fusion S. 80-129

„… assignment. This allows fusing multiple signals, e.g., signals that stem from different sensors. Solid edges …” „… optimization problem is to find the best labeling (see Figure 3.1). A probabilistic model is provided showing …” „… 3 HO-MOT with Signal Fusion the evaluation of a trajectory, this results in an implicit HO-MOT model …”

Lifted Disjoint Paths S. 130-164

„… inequalities are presented. The lifted disjoint paths problem is a natural model for multiple object tracking …” „… through a graph naturally model trajectories of multiple objects (see Figure 1.5 and Section 1.2.2 …” „… network flow model (black) with lifted edges (blue) representing whether two detections belong to the same …”

Fundamentals S. 33-79

„… locations. Finally, a mixture model using multiple object models is applied to an image at multiple scales …” „… in terms of a graph, a mathematical construct to represent entities (e.g., detections) and to model …” „… problem, as it enables to naturally model the temporal information of a video recording. Definition 2.8. A …”

doi.org/10.51202/9783186875105

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Messunsicherheit praxisgerecht bestimmen 2017 und Prüfprozesse in der industriellen Praxis 2017

VDI Wissensforum GmbH (Hrsg.)

Reihe: VDI-Berichte

Band 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

„… ,.... 4.1 Probabilistic State Space Model and the Bayesian Filtering Equations Definition 3 (Probabilistic …” „… of the linear Bayesian filtering problem [4]. Consequently, the probabilistic state space model 3 …” „… reliable 3D information from cameras either model based temporal filtering of monocular image sequences may …”

doi.org/10.51202/9783181023198

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Automation 2023

VDI Wissensforum GmbH (Hrsg.)

Reihe: VDI-Berichte

Band 2419 2023

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J. Grothoff, T. Miny, M. Tarnow Challenges Utilizing PLCopen for OPC UA S. 999-1014

„… multiple information models. Otherwise, it is not clear which nodeset or namespace it belongs to. The …” „… favored communication protocol and information model for future industrial control systems. The OPC …” „… Foundation and partners provide corresponding model types in companion specifications including PLCopen to …”

doi.org/10.51202/9783181024195

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Suppressing Electromagnetic Interference in Switching Converters by Chaotic Duty Modulation

Yuhong Song

Reihe: Informatik/ Kommunikation

Band 850 2017

Treffer in den folgenden Teilen:

Titelei/Inhaltsverzeichnis S. I-VIII

„… Converters . . . . . . . . . . . . . . . . . . . . . . 6 1.3.1 Filtering and Shielding …” „… . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 6.2 Circuit Average Model of a Half-Bridge Converter . . . . . . . . . . . . . . . . . 57 6.2.1 …” „… Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 6.2.3 Direct Current Model and …”

Introduction S. 1-13

„… multiple-transistor ones are widely used in medium-large power outputs. Each topology has its pros and cons. Power …” „… experimental test for EMI. 1.3 EMI Suppression in Switching Converters 1.3.1 Filtering and Shielding EMI …” „… winding and so on. EMI filtering is normally used to cut off the coupling channel to suppress EMI from the …”

doi.org/10.51202/9783186850102

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Human Motion Capture with Sparse Inertial Sensors and Video

Timo von Marcard

Reihe: Informatik/ Kommunikation

Band 866 2020

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Introduction S. 5-21

„… , the muscoloskeletal system is typically approximated by a simpler kinematic model. The majority of …” „… defined in terms of a skeletal model with associated joint angles. This can be used to animate a surface …” „… joint angles to positional sensor observations, this representation requires a body model which encodes …”

doi.org/10.51202/9783186866103

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Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

Georg Tanzmeister

Reihe: Mess-, Steuerungs- und Regelungstechnik

Band 1246 2016

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Road Course and Road Boundary Estimation S. 87-101

„… multiple locations throughout this thesis and discussed in detail in Chapter 2, are occupancy grids. In …” „… orientation [19, 91, 168] or by using a motion model to calculate a predicted vehicle trajectory [37]. In [168 …” „… are used to extract the boundary cells. A clothoidal model is tracked with an extended Kalman filter …”

Grid-based Tracking and Mapping S. 10-39

„… environment model, rather than building upon raw sensor data. It is therefore crucial for the overall …” „… . Tracking, on the other hand, is often done using model and shape assumptions [11]. 2.1.1 State of the Art …” „… Dempster–Shafer theory of evidence is used to better model these inconsistencies as conflicts [113]. Although …”

Conclusion S. 123-126

„… evidence filtering has been given, and it has been shown how the DST model is reduced to a standard …” „… model. The proposed FSD frame of discernment allows representing uncertainties in the static/dynamic …” „… environment, as standard object tracking algorithms use shape and model assumptions. The grid representation …”

Bibliography S. 137-154

„… . 400–406. [19] Q. Baig and O. Aycard, “Improving moving objects tracking using road model for laser data …” „… . Bekris, B. Chen, A. Ladd, E. Plaku, and L. Kavraki, “Multiple query probabilistic roadmap planning using …” „… . Bouzouraa and U. Hofmann, “Fusion of occupancy grid mapping and model based object tracking for driver …”

Evaluation S. 102-122

„… object-based information is used. It is expected that an object-to-object association and filtering is able to …” „… different models are used, a constant heading model, i.e., the vehicle orientation separates the environment …” „… , and a constant curvature model based on the current angle of the front wheels. The comparison was done …”

doi.org/10.51202/9783186246080

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SIMVEC – Simulation und Erprobung in der Fahrzeugentwicklung

VDI Wissensforum GmbH (Hrsg.)

Reihe: VDI-Berichte

Band 2333 2018

Treffer in den folgenden Teilen:

E. Papoutsis, M. Hojjat, K.-U. Bletzinger Geometric constraints for node-based shape optimization of car body parts S. 75-92

„… industrial examples from the automotive industry. In Vertex Morphing the simulation model can be used …” „… model. For a sensitivity-based approach, the first order derivative is defined as a field of …” „… include the filtering of the gradient information which is usually non-smooth and explicitly affect the …”

doi.org/10.51202/9783181023334

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Plant Classification and Position Estimation for Autonomous Field Robots

Sebastian Haug

Reihe: Informatik/ Kommunikation

Band 870 2020

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Multispectral Image Acquisition and Vegetation Segmentation S. 24-39

„… capture a multispectral image. The following major approaches exist: Multiple Cameras In a multiple camera …” „… different channels (for example red, green, blue and near-infrared). The camera captures multiple timely …” „… the filtering function can be tuned electronically [129, 130]. Special filters exist which can be …”

Background: Computer Vision andMachine Learning S. 9-23

„… effects of the lens through camera calibration [77]. Another common preprocessing step is filtering: For …” „… filter kernel over the image. Segmentation can be used to split an image into multiple objects/regions …” „… the image. Most preprocessing techniques operate on single pixels, a window of pixels (filtering with …”

Plant Classification S. 40-69

„… farming: In general, crops are grown in one or multiple rows, weeds however will occur close-to-crop and …” „… results with multiple datasets and discussion is conducted in Chapter 6. 4.1 Related Work Plant and leaf …” „… contour in multiple scales to discriminate leaves from 184 different trees. On the test data they are able …”

Plant Position Estimation S. 70-95

„… then either Hough transform related methods or filtering and fitting of row lines or polynomials [55 …” „… stem candidates by searching from the leaf tip [57]. The information of multiple leaves is fused to …” „… a tilt sensor and filtering to generate the field map offline. They show that 95 % of the seeds …”

doi.org/10.51202/9783186870100

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ELIV 2021

VDI Wissensforum GmbH (Hrsg.)

Reihe: VDI-Berichte

Band 2384 2021

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M. Ghivari, D. Chakraborty State of Health and State of Charge Estimation method – A Machine Learning based hybrid approach S. 605-612

„… physics-based model for correcting the estimated states have proven to be considered accurate. Alternatively …” „… generally required encompassing multiple combinations of the vehicle and environmental conditions to make …” „… battery model and a neural network to predict SOC and then using the obtained SOC to derive SOH …”

doi.org/10.51202/9783181023846

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Graphical Model MAP Inference with Continuous Label Space in Computer Vision

Oliver Müller

Reihe: Informatik/ Kommunikation

Band 860 2018

Treffer in den folgenden Teilen:

Bibliography S. 128-146

„… Pattern Recognition (CVPR), pages 2433–2440, 2011. [120] Yang Wang and Greg Mori. Multiple tree models for …” „… . [5] Boris Babenko, Ming-Hsuan Yang, and Serge Belongie. Visual tracking with online multiple instance …” „… Schiele, Nassir Navab, and Slobodan Ilic. 3d pictorial structures for multiple human pose estimation. In …”

Related Work S. 15-24

„… , the related work in discrete and continuous MAP inference in probabilistic graphical models is …” „… : Multi-object tracking, online tracking, and articulated tracking. Deformable part-based models for pose …” „… estimation. The literature in deformable parts models (DPMs) is vast [37, 95, 104, 60, 120, 4, 39, 119, 125 …”

Stochastic Inference in Probabilistic Graphical Models S. 56-77

„… 56 Chapter 4Stochastic Inference in Probabilistic Graphical Models 57 In recent years, stochastic …” „… the sum-product particle belief 58 Chapter 4 Stochastic Inference in Probabilistic Graphical Models x3 …” „… 4→1 Graphical Model Distribution Sampling m1→4 φ4m3→4 m2→1 m4→1 m2→1 φ1 m3→4 m1→4 φ4 x2 Figure 4.1 …”

doi.org/10.51202/9783186860101

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ELIV 2023

VDI Wissensforum GmbH (Hrsg.)

Reihe: VDI-Berichte

Band 2423 2023

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Z. Bassi, P. Gulden Using Radar and Vision Fusion for Improved Low-light Pedestrian Detection S. 113-132

„… the multiple tree structure, note the threshold values are determined during model training. Fig. 4 …” „… . Peter Gulden, indie Semiconductor, San Jose, CA, USA 1. Abstract Using multiple sensor modalities is …” „… models more fit for high autonomy, without consideration of hardware implementation and cost. A key …”

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

„… technology or 5G technology, aimed to differentiate itself from the WLAN based V2X. There have been multiple …” „… markings, traffic sign and so on. There are multiple data sources including automotive imaging Camera …” „… PerceptionTarget Filtering and Classification Threat AssessmentPath HistoryPath PredicationMulti-Sensors Fusion (Be …”

X. Wang, A. Hübner, K. Weishaupt, K. Chung Validation and Interpretation of Neural Networks: DNN-Based Object Detection as an Example S. 419-436

„… estimation when used in multiples. Thus, image processing algorithms will remain a central component of …” „… choice, we examined the overall performance of the 2D object detection model under a selected disturbance …” „… as a first step. To gain a deeper understanding of the model's behavior in response to the chosen …”

doi.org/10.51202/9783181024232

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