Development of moving object tracker based on sensor fusion centered on ultra-wideband radar

2015 Fiscal Year Final Research Report

• Project/Area Number: 26880023
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Single-year Grants
• Research Field: Perceptual information processing
• Research Institution: Ritsumeikan University
• Principal Investigator: Saho Kenshi 立命館大学, 理工学部, 助教 (00732900)
• Project Period (FY): 2014-08-29 – 2016-03-31
• Keywords: 超広帯域レーダ / センサ融合 / 移動目標追尾 / 速度・加速度観測 / 追尾フィルタ / 超音波距離センサ

Outline of Final Research Achievements

This study developed tracking techniques based on data fusion of accurate position measured with ultra-wideband radars, and velocity/acceleration obtained with Doppler sensors and accelerators. Tracking methods using not only the position but also the velocity/acceleration were newly defined. Then, their performance was analyzed and optimal design methodology was established based on theoretical analyses. Further, experiments using the radars, the ultrasonic sensors, the Doppler radars, and the accelerators were conducted and a practicality of the developed tracking techniques is verified in realistic environment.

Free Research Field

レーダ/ソナー信号処理