Vehicle Tracking Method in Polar Coordinate System Based on Radar and Monocular Camera

Vehicle tracking based on fusion of radar and camera is one of most important approaches for intelligent vehicle, and data association playes key roles in multi-target tracking. To improve the performance of data association to increase the tracking accuracy, a new vehicle tracking method for radar and monocular camera is proposed. By the method, the tracking gate in polar coordinates is designed to acquire valid measurement firstly. Considering that the poor distance precision of monocular camera would introduce incorrect association between measurements and target tracks in Cartesian coordinates, only angle of target is utilized for data association in polar coordinates to obtain proper match. Then the filtering and tracking accuracy is increased by more correct data association. The results of experiment show that the proposed vehicle tracking method can improve the vehicle tracking accuracy, and reduce the computational costs.