Precise and efficient model-based vehicle tracking method using Rao-Blackwellized and scaling series particle filters

Mengwen He, Eijiro Takeuchi, Yoshiki Ninomiya, Shinpei Kato

Abstract: A precise and efficient tracking technique is essential for an intelligent vehicle to interact with the surrounding vehicles on the road. In this paper, we propose a model-based vehicle tracking method using the Rao-Blackwellized particle filter (RBPF) and scaling series particle filter (SSPF).