Abstract:
This paper addresses the problem of joint state and existence estimation in the presence of temporally asynchronous measurements. In multi-sensor fusion, the problem can ...Show MoreMetadata
Abstract:
This paper addresses the problem of joint state and existence estimation in the presence of temporally asynchronous measurements. In multi-sensor fusion, the problem can occur that measurements from different sensors can arrive at the processing unit out of sequence, i.e., the original temporal order of the measurements is lost. For the first time, the influence of these out-of-sequence measurements on state estimation as well as on existence estimation is examined. The existence probabilities are estimated via the Joint Integrated Probabilistic Data Association Filter (JIPDA) [17]. Two different methods to deal with out-of-sequence measurements in JIPDA are described and compared. It is shown that the handling of out-of-sequence measurements has a considerable influence not only on state, but also on existence estimation.
Published in: 2012 IEEE Intelligent Vehicles Symposium
Date of Conference: 03-07 June 2012
Date Added to IEEE Xplore: 05 July 2012
ISBN Information: