室内环境下多模态传感器扩展目标跟踪的比较研究
A comparison of extended object tracking with multi-modal sensors in indoor environment
AI总结：
针对室内扩展目标跟踪，比较LiDAR与立体相机两种价格差异显著的3D点云传感源性能，提出基于环境和目标先验的快速启发式检测器与星凸超曲面模型的扩展目标跟踪框架，实验显示立体相机性能接近LiDAR且成本低十倍以上。
摘要：
本文对一种高效目标跟踪方法展开初步研究，比较了LiDAR和立体相机这两种价格差异显著的3D点云传感源的性能。本初步工作聚焦于单目标跟踪，首先开发了一种利用环境和目标先验信息的快速启发式目标检测器，将得到的目标点输入扩展目标跟踪框架，其中目标形状采用星凸超曲面模型参数化。实验结果表明，使用立体相机的跟踪方法性能与LiDAR传感器相近，而成本差异超过十倍。
英文摘要：
This paper presents a preliminary study of an efficient object tracking approach, comparing the performance of two different 3D point cloud sensory sources: LiDAR and stereo cameras, which have significant price differences. In this preliminary work, we focus on single object tracking. We first developed a fast heuristic object detector that utilizes prior information about the environment and target. The resulting target points are subsequently fed into an extended object tracking framework, where the target shape is parameterized using a star-convex hypersurface model. Experimental results show that our object tracking method using a stereo camera achieves performance similar to that of a LiDAR sensor, with a cost difference of more than tenfold.
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。
