| Citation: | NIU G C，TIAN Y B，XIONG Y. Obstacle detection and tracking method based on millimeter wave radar and LiDAR[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（5）：1481-1490 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0541
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Limited detecting range, low precision, and poor stability are just a few of the issues with obstacle detection and tracking that arise when using a single millimeter wave radar, or LiDAR, on an unmanned vehicle in a park. An obstacle-detecting and tracking approach based on the fusion of radar and LiDAR is proposed. Firstly, the improved Euclidean clustering algorithm is adopted to extract the objects in the road boundary from LiDAR point clouds. Furthermore, effective objects can be obtained from millimeter wave radar data which is handled based on an information filtering strategy. Then, the adaptive fusion of two kinds of objects described above is carried out based on the intersection over union and reliability analysis of objectdetection. The tracking gate and the joint probabilistic data association (JPDA) algorithm are performed to match sequence frames. In order to achieve obstacle tracking, the interacting multiple model and unscented Kalman filter method are finally put into practice. The experimental results show that the proposed method has higher accuracy and stability than using a single sensor for obstacle detection and tracking.
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