Vehicle Tracking through Vision-Millimeter Wave Doppler Shift Fusion

Automated cars benefit greatly from millimeter wave broadband communication links. Also, computer vision is becoming more and more used in automotive applications. In this scenario, we propose a system capable to track the position of a given car on a road by fusing data from a camera system and a wireless radio link at 60 GHz. A Gaussian mixture model and epipolar geometry have been used for computer vision. From a V-band wireless link a Doppler shift estimate has been obtained. The effectiveness of our method is shown on measurement data.

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