Tracking uncertain moving objects using dynamic track management in Multiple Hypothesis Tracking

Abdul Hadi Abd Rahman , Hairi Zamzuri, Saiful Amri Mazlan, Mohd Azizi Abdul Rahman, Muhammad Aizzat Zakaria

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

Laser range finder (LRF) has been widely used for detecting and tracking moving objects. In autonomous navigation, LRF provides reliable data of moving objects surrounding the vehicle for obstacle avoidance. Data association is a crucial process for a successful moving objects tracking. In urban area, objects tend to move in various directions, thus increasing the possibility of incorrect data associations. In this paper, a reliable dynamic track management (DTM) based on Multiple Hypothesis Tracking (MHT) method is proposed. The Interacting Multiple Model (IMM) with Kalman filter provides extra information for track management process which increases the performance of data association. Simulations and real time experiment were conducted to evaluate the proposed track management in various scenarios to deal with the creation of new track, track deletion and detection of cross track. The results suggested that the proposed method produced acceptable results, reflecting the accuracy of object identification for all moving objects in all tested scenarios.

Original languageEnglish
Title of host publication2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages345-350
Number of pages6
ISBN (Electronic)9781479967292
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event3rd International Conference on Connected Vehicles and Expo, ICCVE 2014 - Vienna, Austria
Duration: 3 Nov 20147 Nov 2014

Other

Other3rd International Conference on Connected Vehicles and Expo, ICCVE 2014
CountryAustria
CityVienna
Period3/11/147/11/14

Fingerprint

Range finders
management
Lasers
Collision avoidance
Kalman filters
Navigation
scenario
process management
urban area
Experiments
simulation
experiment
performance

Keywords

  • Autonomous Vehicle
  • Dynamic Track Management
  • Laser Range Finder
  • Multiple Hypothesis Tracking
  • Multiple Object Tracking

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Automotive Engineering
  • Control and Systems Engineering
  • Transportation

Cite this

Abd Rahman , A. H., Zamzuri, H., Mazlan, S. A., Rahman, M. A. A., & Zakaria, M. A. (2014). Tracking uncertain moving objects using dynamic track management in Multiple Hypothesis Tracking. In 2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings (pp. 345-350). [7297569] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCVE.2014.7297569

Tracking uncertain moving objects using dynamic track management in Multiple Hypothesis Tracking. / Abd Rahman , Abdul Hadi; Zamzuri, Hairi; Mazlan, Saiful Amri; Rahman, Mohd Azizi Abdul; Zakaria, Muhammad Aizzat.

2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2014. p. 345-350 7297569.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abd Rahman , AH, Zamzuri, H, Mazlan, SA, Rahman, MAA & Zakaria, MA 2014, Tracking uncertain moving objects using dynamic track management in Multiple Hypothesis Tracking. in 2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings., 7297569, Institute of Electrical and Electronics Engineers Inc., pp. 345-350, 3rd International Conference on Connected Vehicles and Expo, ICCVE 2014, Vienna, Austria, 3/11/14. https://doi.org/10.1109/ICCVE.2014.7297569
Abd Rahman  AH, Zamzuri H, Mazlan SA, Rahman MAA, Zakaria MA. Tracking uncertain moving objects using dynamic track management in Multiple Hypothesis Tracking. In 2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2014. p. 345-350. 7297569 https://doi.org/10.1109/ICCVE.2014.7297569
Abd Rahman , Abdul Hadi ; Zamzuri, Hairi ; Mazlan, Saiful Amri ; Rahman, Mohd Azizi Abdul ; Zakaria, Muhammad Aizzat. / Tracking uncertain moving objects using dynamic track management in Multiple Hypothesis Tracking. 2014 International Conference on Connected Vehicles and Expo, ICCVE 2014 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 345-350
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