Multi-Sensor Multi-Object Tracking of Vehicles Using High-Resolution Radars

Recent advances in automotive radar technology have led to increasing sensor resolution and hence a more detailed image of the environment with multiple measurements per object. This poses several challenges for tracking systems: new algorithms are necessary to fully exploit the additional information and algorithms need to resolve measurement-to-object association ambiguities in cluttered multi-object scenarios. Also, the information has to be fused if multi-sensor setups are used to obtain redundancy and increased fields of view. In this paper, a Labeled Multi-Bernoulli filter for tracking multiple vehicles using multiple high-resolution radars is presented. This finite-set-statistics-based filter tackles all three challenges in a fully probabilistic fashion and is the first Monte Carlo implementation of its kind. The filter performance is evaluated using radar data from an experimental vehicle.