1.
Sci Rep
; 13(1): 5095, 2023 Mar 29.
Artigo
em Inglês
| MEDLINE
| ID: mdl-36991153
RESUMO
The random matrix (RM) model is a typical extended object-modeling method that has been widely used in extended object tracking. However, existing RM-based filters usually assume that the measurements follow a Gaussian distribution, which may lead to a decrease in accuracy when the filter is applied to the lidar system. In this paper, a new observation model used to modify an RM smoother by considering the characteristics of 2D LiDAR data is proposed. Simulation results show that the proposed method achieves a better performance than the original RM tracker in a 2D lidar system.