2D Spatial Keystone Transform for Sub-Pixel Motion Extraction from Noisy Occupancy Grid Map

Hongqi Fan, Dawei Lu, Tomasz P. Kucner, Martin Magnusson, Achim J. Lilienthal

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Abstract

In this paper, we propose a novel sub-pixel motion extraction method, called as Two Dimensional Spatial Keystone Transform (2DS-KST), for the motion detection and estimation from successive noisy Occupancy Grid Maps (OGMs). It extends the KST in radar imaging or motion compensation to 2D real spatial case, based on multiple hypotheses about possible directions of moving obstacles. Simulation results show that 2DS-KST has a good performance on the extraction of sub-pixel motions in very noisy environment, especially for those slowly moving obstacles.
Original languageEnglish
Title of host publicationProceedings of 21st International Conference on Information Fusion, FUSION 2018
PublisherIEEE
Number of pages7
ISBN (Electronic)978-0-9964527-6-2
DOIs
Publication statusPublished - Sep 2018
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Information Fusion - Cambridge, United Kingdom
Duration: 10 Jul 201813 Jul 2018
Conference number: 21

Conference

ConferenceInternational Conference on Information Fusion
Abbreviated titleFUSION
Country/TerritoryUnited Kingdom
CityCambridge
Period10/07/201813/07/2018

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