Joint Tracking and Ground Plane Estimation
Abstract—Weproposeanovelframeworkthatjointlyestimatesthegroundplaneandatarget’smotiontrajectory.Thisresultsinimprovementsforboth.EstimatingtheirjointposteriorisbasedonParticleMarkovChainMonteCarlo(ParticleMCMC).InPar-ticleMCMC,thebesttargetstateisinferredbyaparticlefilterandthebest
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