Abstract
In exteroceptive automotive sensor fusion, sensor data are usually only available as processed, tracked object data and not as raw sensor data. Applying a Kalman filter to such data leads to additional delays and generally underestimates the fused objects’ covariance due to temporal correlations of individual sensor data as well as inter-sensor correlations. We compare the performance of a standard asynchronous Kalman filter applied to tracked sensor data to several algorithms for the track-to-track fusion of sensor objects of unknown correlation, namely covariance union, covariance intersection, and use of cross-covariance. For our simulation setup, covariance intersection and use of cross-covariance turn out to yield significantly lower errors than a Kalman filter at a comparable computational load.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Reference
A. N. Steinberg, C. L. Bowman, and F. E. White. Revisions to the JDL data fusion model. Proceedings of SPIE, Sensor Fusion: Architectures, Algorithms, and Applications III, 3719: 430–441, 1999.
S. Blackman and R. Popoli. Design and analysis of modern tracking systems. 2nd edition. Artech House radar library. Artech House, Norwood 1999.
Y. Bar Shalom. On the track-to-track correlation problem. IEEE Transactions on Automatic Control, AC-26(2): 571–572, 1981.
S. J. Julier and J. K. Uhlmann. Handbook of Data Fusion, chapter 12: General decentralized data fusion with covariance intersection (CI) (pp. 1–25). Boca Raton FL: CRC Press, 2001.
J. K. Uhlmann. Covariance consistency methods for fault-tolerant distributed data fusion. Information Fusion, 4(3): 201–215, 2003.
K. Weiss, D. Stueker, and A. Kirchner. Target modeling and dynamic classification for adaptive sensor data fusion. In Proceedings of the IEEE Intelligent Vehicles Symposium, pp. 32–137, 2003.
N. Floudas, M. Tsogas, A. Amditis, and A. Polychronopoulos. Track level fusion for object recognition in road environments. PReVENT Fusion Forum e-Journal, (2): 16–23, January 2008.
Y. Bar-Shalom and X.-R. Li. Multitarget-multisensor tracking: Principles and techniques. Storrs, CT: YBS Publishing, 1995.
J. K. Uhlmann. Dynamic map building and localization for autonomous vehicles. PhD thesis, University of Oxford, 1995.
S. J. Julier and J. K. Uhlmann. Using covariance intersection for slam. Robotics and Autonomous Systems, 55(1): 3–20, 2007.
A. Gelb. (ed.) Applied optimal estimation, (Chap. 4.5, pp. 133–136). Cambridge, MA: MIT Press, 1974.
X. R. Li and V. P. Jilkov. Survey of maneuvering target tracking-part I: dynamic models. IEEE Transactions on Aerospace and Electronic Systems, 39(4): 1333–1364, 2003.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Matzka, S., Altendorfer, R. (2009). A Comparison of Track-to-Track Fusion Algorithms for Automotive Sensor Fusion. In: Hahn, H., Ko, H., Lee, S. (eds) Multisensor Fusion and Integration for Intelligent Systems. Lecture Notes in Electrical Engineering, vol 35. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89859-7_6
Download citation
DOI: https://doi.org/10.1007/978-3-540-89859-7_6
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-89858-0
Online ISBN: 978-3-540-89859-7
eBook Packages: EngineeringEngineering (R0)