基于通用基础设施传感器接口的集中标记多伯努利滤波器环境建模
Environment Modeling Based on Generic Infrastructure Sensor Interfaces Using a Centralized Labeled-Multi-Bernoulli Filter
摘要：
城市交叉口对全自动车辆提出了很高的要求，特别是在发生遮挡的情况下。为了解决这些问题，并在不清楚的情况下支持车辆，一种流行的方法是利用来自基于基础设施的传感系统的附加信息。然而，这种系统的广泛使用被其复杂性以及由此的高成本所阻碍。在本文中，提出了一个通用的接口，它可以连接各种各样的传感器。传感器只需要测量对象的非常少的特征，如果具有不同观看方向的多个分布式传感器可用。此外，一个标记的多伯努利（LMB）滤波器，它不仅可以处理这样的测量，但也推断出丢失的对象信息的对象的范围。该方法进行了评估模拟和演示在现实世界的基础设施设置。
英文摘要：
Urban intersections put high demands on fully automated vehicles, in particular, if occlusion occurs. In order to resolve such and support vehicles in unclear situations, a popular approach is the utilization of additional information from infrastructure-based sensing systems. However, a widespread use of such systems is circumvented by their complexity and thus, high costs. Within this paper, a generic interface is proposed, which enables a huge variety of sensors to be connected. The sensors are only required to measure very few features of the objects, if multiple distributed sensors with different viewing directions are available. Furthermore, a Labeled Multi-Bernoulli (LMB) filter is presented, which can not only handle such measurements, but also infers missing object information about the objects' extents. The approach is evaluated on simulations and demonstrated on a real-world infrastructure setup.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
