Simultaneous Three-Dimensional Shape Estimation and Tracking in Maritime Environments
Abstract:
Modern high-resolution sensors, such as Lidar, generate thousands of measurements per time step and object in maritime environment perception. These measurements contain information about both kinematics and the objects’ extent and shape. This work develops three-dimensional measurement models for maritime extended object tracking, including parametric and flexible shape representations in cylindrical coordinates. Their effectiveness is demonstrated in simulations and real-world experiments.
| Zugehörige Institution(en) am KIT | Institut für Anthropomatik und Robotik (IAR) |
| Publikationstyp | Hochschulschrift |
| Publikationsjahr | 2026 |
| Sprache | Englisch |
| Identifikator | ISBN: 978-3-7315-1471-8 ISSN: 1867-3813 KITopen-ID: 1000190955 |
| Verlag | KIT Scientific Publishing |
| Umfang | XVIII, 222 S. |
| Serie | Karlsruhe Series on Intelligent Sensor-Actuator-Systems / Karlsruher Institut für Technologie, Intelligent Sensor-Actuator-Systems Laboratory ; 24 |
| Art der Arbeit | Dissertation |
| Fakultät | Fakultät für Informatik (INFORMATIK) |
| Institut | Institut für Anthropomatik und Robotik (IAR) |
| Prüfungsdaten | 14.11.2025 |
| Prüfungsdatum | 14.11.2025 |
| Schlagwörter | 3D Extended Object Tracking, Lidar, Umfelderkennung in maritimen Anwendungen, Fourier-Chebyshev-Doppelreihen, Superellipsen,, 3D Extended Object Tracking, Lidar, Environment Perception in Maritime Applications, Fourier-Chebyshev Double Series, Superellipses |
| Relationen in KITopen | |
| Globale Ziele für nachhaltige Entwicklung | |
| Referent/Betreuer | Hanebeck, Uwe D. Reuter, Johannes Baum, Marcus |