Mehrobjekt-Zustandsschätzung mit verteilten Sensorträgern am Beispiel der Umfeldwahrnehmung im Straßenverkehr

Umfeldwahrnehmung im automobilen Kontext kann als Zustandsschatzproblem mit mengenwertigem Systemzustand betrachtet werden. Basierend auf FISST wird eine SLAM-ahnliche Methodik gewahlt, welche explizit die Unsicherheit bei der Lokalisierung des Sensortragers berucksichtigt. Diese wird auf die PHD-, JIPDA- und MEMBER-Filteransatze angewandt. Hierbei ist eine Modifikation des Standardmessmodells notig, um zu implementierbaren Korrekturgleichungen zu gelangen.

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