Integrating Spline Curves in Road Constraint Object Tracking

Hasberg, Carsten; Hensel, Stefan; Westenkirchner, M.; Bach, Kerstin

doi:10.1109/itsc.2008.4732568

Cited by 8 publications

(6 citation statements)

References 11 publications

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“…Any road-network map, whether it belongs to an airport or a highway network, or even a plan describing a set of corridors within a building, can be parameterised with simpler elements which allow the description of different parts of the map. In particular, in our approach, each road segment may be represented with three bidimensional basic elements: straight lines, circular arcs and splines [24]. These three kinds of segments are general enough to represent any map with precision.…”

Section: Map-based Tracking Problem Statementmentioning

confidence: 99%

“…So, for X = 0 we have the segment sample at the beginning of the section, and X = 1 may be used to obtain the final segment sample of the section. The coefficients have to guarantee the smooth between sections, hence they are chosen carefully, following the procedures described in [24]. It should be noted that in order to define a point in this kind of segments both the relevant section and the X parameter for the relevant section need to be identified.…”

Section: Map-based Tracking Problem Statementmentioning

confidence: 99%

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A new approach to map-assisted Bayesian tracking filtering

et al. 2019

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This paper presents a new non-linear filter designed to track targets following a road network, taking advantage of the road map information. The algorithm is based on a Bayesian Multiple Hypotheses modelling of movement process, postulating and evaluating different hypotheses on the segments being followed by the target after road junctions. Then, the along-road tracking is carried out, for each hypothesis, by a longitudinal IMM filter capable of tracking target movements along straight roads, circular segments, and generic curvilinear segments defined through Bezier curves. The algorithm also includes a lateral drift estimator, which tracks the lateral motion of the target with respect to road axis, to be able to estimate target piloting error and especially to track targets in wide roads. The paper completely describes the filter and associated measurement preprocessing procedures, and also includes a comparative evaluation of the proposed filter with other filtering methods in the literature.

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Section: Map-based Tracking Problem Statementmentioning

confidence: 99%

Section: Map-based Tracking Problem Statementmentioning

confidence: 99%

A new approach to map-assisted Bayesian tracking filtering

et al. 2019

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“…Step 2: Calculation of the synchronised pseudo-CPA. Based on a predicted position which is obtained in Step 1 as the up-CPA, the corresponding position of the object ship at the same time can then be calculated by the cubic spline interpolation method (Hasberg et al, 2008; Sang et al, 2015). The initial real distance l between these two positions can be calculated by Equation (12).…”

Section: Cpa Calculationmentioning

confidence: 99%

CPA Calculation Method based on AIS Position Prediction

Sang¹,

Yan

Wall

et al. 2016

J. Navigation

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The information on the Closest Point of Approach (CPA) of another vessel to own ship is required in a potential collision situation as it helps determines the risk to each vessel. CPA is usually calculated based on the speed and direction of the approaching ship neglecting the Change Of Speed (COS) and the Rate Of Turn (ROT). This will make the CPA less useful. To improve the CPA calculation, Automatic Identification System (AIS) information containing the Speed Over Ground (SOG), Course Over Ground (COG), COS and ROT is used. Firstly, a model using these four factors is built to predict ship positions better. Secondly, a three-step CPA searching method is developed. The developed CPA calculation method can assist in informing the navigation decisions and reducing unnecessary manoeuvres. Through the analysis of a real collision scenario, this paper shows that the proposed method can help identify and warn of anomalous ship behaviours in a realistic time frame.

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“…Secondly, the piecewise cubic interpolation method and the piecewise cubic spline 31 interpolation method (Hasberg, et al, 2008) are also used to restore the trajectories. Finally, the trajectory 32 restored by using the proposed method based on the ship navigational features and the trajectories restored 33 by using the three existing interpolation methods are compared.…”

Section: Ship 24mentioning

confidence: 99%

A novel method for restoring the trajectory of the inland waterway ship by using AIS data

et al. 2015

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Abstract:The trajectory of the inland waterway ship is important and useful in analysing the features of 16 the ship behaviour and simulating traffic flows. In the proposed research, a method is designed to restore 17 the trajectory of an inland waterway ship based on the Automatic Identification System (AIS) data. Firstly, 18 three rules are developed to identify and remove the inaccurate data, based on the reception range of the 19 received AIS data and the manoeuvring characteristics of the inland waterway ship. Secondly, the method 20 of restoring the full trajectory incorporating navigational features of the inland waterway ship is proposed 21 to model the ship trajectory. The trajectory is characterised by three types (line, curve and arc) and five 22 steps (line, curve, arc, curve and line) during the turning section. In order to validate the proposed method, 23 the AIS data of two inland waterway ships collected from three AIS-base-stations is selected for the 24 analysis, all inaccurate AIS data is identified and removed by the use of three cleansing rules. The results 25show that the three developed rules can effectively identify the inaccurate AIS data. The AIS data collected 26 by an AIS-shipboard-unit is then used to: (1) restore the ship trajectory, and (2) to restore the full trajectory in an effective manner by using AIS data. 33

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Integrating Spline Curves in Road Constraint Object Tracking

Cited by 8 publications

References 11 publications

A new approach to map-assisted Bayesian tracking filtering

A new approach to map-assisted Bayesian tracking filtering

CPA Calculation Method based on AIS Position Prediction

A novel method for restoring the trajectory of the inland waterway ship by using AIS data

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