# Extended Existence Probability Using Digital Maps for Object Verification

arXiv: https://arxiv.org/abs/2003.10316 · HTML: https://mlsanity.com/paper/2003.10316/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Mar 2020.

## Built on by (most cited first, 1 of 1)

- [Attention-based Vehicle Self-Localization with HD Feature Maps](https://mlsanity.com/paper/2107.07787/) (2021)

## Abstract (arXiv)

A main task for automated vehicles is an accurate and robust environment perception. Especially, an error-free detection and modeling of other traffic participants is of great importance to drive safely in any situation. For this purpose, multi-object tracking algorithms, based on object detections from raw sensor measurements, are commonly used. However, false object hypotheses can occur due to a high density of different traffic participants in complex, arbitrary scenarios. For this reason, the presented approach introduces a probabilistic model to verify the existence of a tracked object. Therefore, an object verification module is introduced, where the influences of multiple digital map elements on a track's existence are evaluated. Finally, a probabilistic model fuses the various influences and estimates an extended existence probability for every track. In addition, a Bayes Net is implemented as directed graphical model to highlight this work's expandability. The presented approach, reduces the number of false positives, while retaining true positives. Real world data is used to evaluate and to highlight the benefits of the presented approach, especially in urban scenarios.