A NURBS-surface model with scaling, and optionally weight, estimation tracks a vehicle's 3D extent and kinematics in real time from sparse LiDAR points, outperforming a 3D Gaussian-process tracker on shape area error.
A Cartesian B-Spline Vehicle Model for Extended Object Tracking,
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Fast 3D Extended Target Tracking using NURBS Surfaces
A NURBS-surface model with scaling, and optionally weight, estimation tracks a vehicle's 3D extent and kinematics in real time from sparse LiDAR points, outperforming a 3D Gaussian-process tracker on shape area error.