Ground Target Tracking with Road Map Support

Abstract

Ground target surveillance is getting a more and more important task, for civil as for military applications. Ground targets may be bound to infrastructural con- straints, like vehicles moving on roads. Therefore, incorporating road map information into the tracking process is a current topic of research. This paper presents a tracking algorithm, which considers the road information and is based on a Kalman filter ap- proach. Beside crossings, narrow curves are also supported.