Asynchronous Information Fusion in Intelligent Driving Systems for Target Tracking Using Cameras and Radars

Xiaohui Hao; Yuanqing Xia; Hongjiu Yang; Zhiqiang Zuo

doi:10.1109/TIE.2022.3169717

Asynchronous Information Fusion in Intelligent Driving Systems for Target Tracking Using Cameras and Radars

Xiaohui Hao, Yuanqing Xia^*, Hongjiu Yang, Zhiqiang Zuo

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Contribution to journal › Article › peer-review

24 Citations (Scopus)

Abstract

In this article, an asynchronous information fusion issue is investigated for a camera and a radar in an intelligent driving system. Local camera and radar estimators with missed detections are developed independently at synchronized state update time for target tracking. A Kuhn-Munkers algorithm is used to match local tracking results of camera and radar for fusion estimation of a same target. A fusion estimator is obtained by a matrix-weighted fusion algorithm with wide detection range and reliable fused estimates. Effectiveness of the proposed asynchronous fusion estimator is displayed by experimental results on road vehicle tracking.

Original language	English
Pages (from-to)	2708-2717
Number of pages	10
Journal	IEEE Transactions on Industrial Electronics
Volume	70
Issue number	3
DOIs	https://doi.org/10.1109/TIE.2022.3169717
Publication status	Published - 1 Mar 2023

Keywords

Asynchronous information fusion
camera and radar
intelligent driving system
target tracking

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10.1109/TIE.2022.3169717

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abstract = "In this article, an asynchronous information fusion issue is investigated for a camera and a radar in an intelligent driving system. Local camera and radar estimators with missed detections are developed independently at synchronized state update time for target tracking. A Kuhn-Munkers algorithm is used to match local tracking results of camera and radar for fusion estimation of a same target. A fusion estimator is obtained by a matrix-weighted fusion algorithm with wide detection range and reliable fused estimates. Effectiveness of the proposed asynchronous fusion estimator is displayed by experimental results on road vehicle tracking.",

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author = "Xiaohui Hao and Yuanqing Xia and Hongjiu Yang and Zhiqiang Zuo",

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KW - target tracking

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Asynchronous Information Fusion in Intelligent Driving Systems for Target Tracking Using Cameras and Radars

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Keywords

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