TY - GEN
T1 - A comparison of track-to-track fusion algorithms for automotive sensor fusion
AU - Matzka, Stephan
AU - Altendorfer, Richard
PY - 2009
Y1 - 2009
N2 - 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. © 2009 Springer-Verlag Berlin Heidelberg.
AB - 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. © 2009 Springer-Verlag Berlin Heidelberg.
U2 - 10.1007/978-3-540-89859-7_6
DO - 10.1007/978-3-540-89859-7_6
M3 - Conference contribution
SN - 9783540898580
VL - 35 LNEE
T3 - Lecture Notes in Electrical Engineering
SP - 69
EP - 81
BT - Multisensor Fusion and Integration for Intelligent Systems: An Edition of the Selected Papers from the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems 2008
T2 - 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Y2 - 20 August 2008 through 22 August 2008
ER -