An Orientation Corrected Bounding Box Fit Based on the Convex Hull under Real Time Constraints

An important requirement for safe autonomous driving is the perception of dynamic and static objects. In urban scenarios, there exist hundreds of potential obstacles. Therefore, it is crucial to have a fast and accurate fitting method which is a key step for many tracking algorithms. In this paper, we demonstrate an orientation corrected bounding box fit based on the convex hull and a line creation heuristic. Our method is capable of fitting hundreds of objects in less than 10 ms and involves only few tuning parameters. Furthermore, orientation estimated through the dynamics of the object can be used to improve the fitting result. Real-world experiments have proven the robustness and effectiveness of our method.