Detection and Tracking of Road Barrier Based on Radar and Vision Sensor Fusion

Table 2

Performance comparison of tracking of road barrier.

Scenario	Detection only	Kalman filter	PDA filter
Perception of RB (%)
Concrete	65.78	67.53	81.42
Tunnel	62.21	63.49	81.30
Curb	70.96	76.39	89.52
Concrete + iron	98.53	98.87	100.00
Iron	98.76	99.53	100.00
Total	67.75	69.22	84.32
RMSE (m)
Concrete	0.5396	0.4148	0.3992
Tunnel	0.8010	0.8265	0.7692
Curb	2.6398	2.8001	2.6089
Concrete + iron	0.7354	0.7183	0.6481
Iron	0.7583	0.7438	0.7068
Total	1.1497	1.2231	1.0992