A Multi Sensor Real-time Tracking with LiDAR and Camera

dc.contributor.authorKollazhi Manghat, Surya
dc.contributor.authorEl-Sharkawy, Mohamed
dc.contributor.departmentElectrical and Computer Engineering, School of Engineering and Technologyen_US
dc.date.accessioned2021-01-13T21:19:24Z
dc.date.available2021-01-13T21:19:24Z
dc.date.issued2020-01
dc.description.abstractSelf driving cars are equipped with various driver-assistive technologies (ADAS) like Forward Collision Warning system (FCW), Adaptive Cruise Control and Collision Mitigation by Breaking (CMbB) to ensure safety. Tracking plays an important role in ADAS systems for understanding dynamic environment. This paper proposes 3D multi-target tracking method by following a lean way of implementation using object detection with aim of real time. Object Tracking is an integral part of environment sensing, which enables the vehicle to estimate the surrounding object's trajectories to accomplish motion planning. The advancement in the object detection methodologies benefits greatly when following the tracking by detection approach. The proposed method implemented 2D tracking on camera data and 3D tracking on LiDAR point cloud data. The estimated state from each sensors are fused together to come with a more optimal state of objects present in the surrounding. The multi object tracking performance has evaluated on publicly available KITTI dataset.en_US
dc.eprint.versionAuthor's manuscripten_US
dc.identifier.citationManghat, S. K., & El-Sharkawy, M. (2020). A Multi Sensor Real-time Tracking with LiDAR and Camera. 2020 10th Annual Computing and Communication Workshop and Conference (CCWC), 0668–0672. https://doi.org/10.1109/CCWC47524.2020.9031247en_US
dc.identifier.urihttps://hdl.handle.net/1805/24825
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.isversionof10.1109/CCWC47524.2020.9031247en_US
dc.relation.journal2020 10th Annual Computing and Communication Workshop and Conferenceen_US
dc.rightsPublisher Policyen_US
dc.sourceAuthoren_US
dc.subjectautonomous vehiclesen_US
dc.subjectcameraen_US
dc.subjectLiDARen_US
dc.titleA Multi Sensor Real-time Tracking with LiDAR and Cameraen_US
dc.typeArticleen_US
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