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For solving the nonlinear filtering problem, much attention has been paid to filters based on the Linear Minimum Mean Square Error (LMMSE) estimation. Accordingly, less attention has been paid to MAP estimation techniques in this field. We argue that, given the superior performance of the latter in certain situations, they deserve to be more carefully(More)
This paper describes an algorithm for estimating the road ahead of a host vehicle based on the measurements from several onboard sensors: a camera, a radar, wheel speed sensors, and an inertial measurement unit. We propose a novel road model that is able to describe the road ahead with higher accuracy than the usual polynomial model. We also develop a(More)
This paper presents a gamma-Gaussian-inverse Wishart (GGIW) implementation of a Poisson multi-Bernoulli mixture (PMBM) filter for multiple extended target tracking. The GGIW density is the single extended target conjugate prior assuming a Poisson distributed number of Gaussian distributed measurements, and the PMBM density is the multi-object conjugate(More)
—This paper presents a Poisson multi-Bernoulli mixture (PMBM) conjugate prior for multiple extended object filtering. A Poisson point process is used to describe the existence of yet undetected targets, while a multi-Bernoulli mixture describes the distribution of the targets that have been detected. The prediction and update equations are presented for the(More)
An important part of any advanced driver assistance system is road geometry estimation. In this paper, we develop a Bayesian estimation algorithm using lane marking measurements received from a camera and measurements of the leading vehicles received from a radar-camera fusion system, to estimate the road up to 200 meters ahead in highway scenarios. The(More)
This paper addresses the mapping problem. Using a conjugate prior form, we derive the exact theoretical batch multiobject posterior density of the map given a set of measurements. The landmarks in the map are modeled as extended objects, and the measurements are described as a Poisson process, conditioned on the map. We use a Poisson process prior on the(More)
This paper presents an algorithm for estimating the shape of the road ahead of a host vehicle equipped with the following onboard sensors: a camera, a radar, and vehicle internal sensors. The aim is to accurately describe the road geometry up to 200 m ahead in highway scenarios. This purpose is accomplished by deriving a precise clothoid-based road model(More)
Designing accurate, robust and cost-effective systems is an important aspect of the research on self-driving vehicles. Radar is a common part of many existing automotive solutions and it is robust to adverse weather and lighting conditions, as such it can play an important role in the design of a self-driving vehicle. In this paper, a radar-based(More)
The advent of business oriented and social networking sites on the Internet have seen a huge increase in number of people using them in recent years. With the expansion of Web 2.0, new types of websites have emerged such as online social networks, blogs and wikis. Their popularity has resulted in exponential growth of information on the web and interactions(More)