@inproceedings {pub3102,
	title = {Lidar based object tracking evaluation for automotive applications},
	author = {Nico Andreas Steinhardt AND Stefan Kaufmann AND Sven Rebhan AND Ulrich Lages AND Christian Goerick AND Yves Noutangnin},
	year = {2016},
	month = {October},
	abstract = {The evaluation and verification of advanced driver assistance systems (ADAS) is a crucial element for guaranteeing safe operation of such systems on the road. To cover a wide variety of real-world situations, ground-truth data needs to be generated for large datasets, rendering complete manual annotation infeasible. However, when employing automatic ground-truth reference systems, the performance and accuracy of these systems becomes subject to validation itself.
In this paper, we present a methodology for characterizing a 360 degree reference system based on vehicle-mounted laser scanners, widely used for automatized labelling of data. Furthermore, a high-accuracy ground-truth reference system (GTRS) is presented that was used in the conducted experiments to determine the object classification and tracking performance as well as the position accuracy of the device-under-test (DuT). Following the proposed methodology, we will show how the accuracy of measurements varies with increasing complexity starting with idealized objects up to complex real-world traffic situations. By doing so, the cause of accuracy changes can be pinned down to properties of the object or scene constellation allowing a deeper understanding of the performance that can be expected from the device-under-test using real world data.
},
	publisher = {ITS},
	booktitle = {23rd World Congress on Intelligent Transport Systems 2016}
}