A constrained mixture particle filter is paired with a layered HMM plus learned motion models to jointly track and predict multiple vehicles, with experiments on NGSIM highway data.
A particle-filtering approach for vehicular tracking adaptive to occlu- sions,
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Generic Tracking and Probabilistic Prediction Framework and Its Application in Autonomous Driving
A constrained mixture particle filter is paired with a layered HMM plus learned motion models to jointly track and predict multiple vehicles, with experiments on NGSIM highway data.