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Title: IMMPDAF approach for road-boundary tracking
Authors: Kodagoda, K.R.S. 
Ge, S.S. 
Wijesoma, W.S.
Balasuriya, A.P.
Keywords: Autonomous vehicles
Laser radar
Road transportation
Robot-sensing systems
Issue Date: Mar-2007
Source: Kodagoda, K.R.S., Ge, S.S., Wijesoma, W.S., Balasuriya, A.P. (2007-03). IMMPDAF approach for road-boundary tracking. IEEE Transactions on Vehicular Technology 56 (2) : 478-486. ScholarBank@NUS Repository.
Abstract: Robust road-boundary extraction/tracking is one of the main problems in autonomous roadway navigation. Although the road boundary can be defined by various means including lane markings, curbs, and borders of vegetation, this paper focuses on road-boundary tracking using curbs. A vehicle-mounted (downward tilted) 2-D laser-measurement system is utilized to detect the curbs. The tracking problem is difficult because both the vehicle is moving and the target is disappearing, reappearing, and maneuvering in clutter. The interacting-multiple-model probabilistic-data-association filter (IMMPDAF) is proposed to solve the problems after detailed analysis. Track initiation, confirmation, and deletion are performed using the sequential-probability-ratio test. Extensive simulations followed by experiments in a campus environment show that the road-boundary tracking utilizing curbs is possible and robust through IMMPDAF. © 2007 IEEE.
Source Title: IEEE Transactions on Vehicular Technology
ISSN: 00189545
DOI: 10.1109/TVT.2007.891426
Appears in Collections:Staff Publications

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