Vehicle Center-of-Gravity Height and Dynamics Estimation with Uncertainty Quantification by Marginalized Particle Filter.
Karl BerntorpAnkush ChakrabartyStefano Di CairanoPublished in: ACC (2021)
Keyphrases
- particle filter
- state estimation
- importance sampling
- extended kalman filter
- particle filtering
- object tracking
- visual tracking
- estimation problems
- kalman filter
- robust visual tracking
- mean shift
- state space
- motion model
- likelihood function
- dynamic model
- monte carlo
- high dimensional state space
- observation model
- target tracking
- data association
- multiple hypotheses
- appearance model
- multiple object tracking
- moving object tracking
- multiple hypothesis
- rao blackwellized particle filter
- sequential monte carlo
- face tracking
- estimation accuracy
- multiple objects
- tracking framework
- robust tracking
- abrupt motion
- kalman filtering