A High-Level Track Fusion Scheme for Circular Quantities

TL;DR

This paper introduces a high-level fusion scheme for circular quantities like angles, using novel operators verified through Monte Carlo experiments and radar sensor data fusion.

Contribution

It presents new fusion operators for circular data and demonstrates their effectiveness in a full track level fusion scheme with radar sensors.

Findings

Fusion operators work as weighted averages for circular distributions

Monte Carlo experiments verify the operators' accuracy

Radar sensor data fusion confirms practical applicability

Abstract

As sensors get more and more integrated, signal processing functions, like tracking, are performed closer to the sensor. Consequently, high level fusion is on the rise. Presented here is a high level fusion scheme incorporating not only linear,but circular quantities as well. Monte Carlo experiments are used to verify our novel fusion operators that work as a weighted average for the Wrapped Normal and the von-Mises distribution. To further verify the new fusion operators, we implemented a full track level fusion scheme and tested it by fusing the measurements of two RADAR sensors.