Chen Ying,Han Chongzhao
(School of Electronics and Information Engineering,Xi'an Jiaotong University,Xi'an 710049,China)
Abstract:Maneuver vehicle tracking system based on a single sensor has defects of low reliability and narrow tracking range.To enhance system performance,a new method is presented for the maneuver target tracking by integrating the radar and machine vision information.For the mobile case,a dynamic model of the vehicle motion,which takes account of the relationship between the rigid body motion of vehicle and the steering and drive rates of wheels,is adopted.A vision tracking window,whose center and size can be adaptively adjusted according to the image intensity data,is produced based on radar-based extended kalman filter.This method limits the working area for subsequent image processing and therefore improves real time performance.Data fusion technology that can integrate data from radar and image sensor to make full use of both measurements is then adopted,thus further improves the state estimation performance for maneuver targets£® The experiments show that the proposed method can significantly improve position and orientation tracking accuracy of the moving vehicle£®
Keywords:vision window;state estimation;vehicle tracking;data fusion