0

Full Content is available to subscribers

Subscribe/Learn More  >

Estimation of a Moving Vehicle’s Position and Orientation Using Probabilistic Data Association

[+] Author Affiliations
Yu Lei, Guang Lu

Tulane University

Paper No. IMECE2005-81234, pp. 493-502; 10 pages
doi:10.1115/IMECE2005-81234
From:
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME

abstract

This paper presents a computationally efficient algorithm for real-time vehicle tracking, by detecting the two taillights using a laser scanning radar (LIDAR) sensor. It is assumed that the two targets are constrained by fixed known separation distance 2l. To reject clutter, a Probability Data Association (PDA) based algorithm is proposed. The algorithm first predicts the orientation of the vehicle and the position of one of the two targets. Then it uses a two-dimensional PDA filter to estimate the position of this target. All the measurements whose distance from the estimated target is close to 2l are converted into orientation angles. This is followed by a one-dimensional PDA filter, which probabilistically combines calculated angles to estimate the orientation of the vehicle. Simulation results show significant improvement by this algorithm over other methods, in terms of orientation tracking.

Copyright © 2005 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In