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 |
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Pages (from-to) | 2708-2717 |
Number of pages | 10 |
Journal | IEEE Transactions on Industrial Electronics |
Volume | 70 |
Issue number | 3 |
DOIs | |
Publication status | Published - 1 Mar 2023 |
Keywords
- Asynchronous information fusion
- camera and radar
- intelligent driving system
- target tracking