Local elevation mapping for automated vehicles using lidar ray geometry and particle filters.
Kai StiensJohannes KeilhackerGeorg TanzmeisterDirk WollherrPublished in: Intelligent Vehicles Symposium (2017)
Keyphrases
- particle filter
- particle filtering
- visual tracking
- object tracking
- state estimation
- monte carlo
- kalman filter
- mean shift
- multiple object tracking
- robust tracking
- appearance model
- motion model
- state space
- digital elevation models
- likelihood function
- abrupt motion
- estimation problems
- multiple objects
- bayesian filtering
- sequential monte carlo
- importance sampling
- markov chain monte carlo
- data association
- machine learning
- point cloud
- high resolution
- articulated body
- aerial images
- tracking framework
- computer vision