SAFE-IMM: Robust and Lightweight Radar-Based Object Tracking on Mobile Platforms
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866914323828310016 |
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| author | Mandaokar, Dnyandeep Rinner, Bernhard |
| author_facet | Mandaokar, Dnyandeep Rinner, Bernhard |
| contents | Tracking maneuvering targets requires estimators that are both responsive and robust. Interacting Multiple Model (IMM) filters are a standard tracking approach, but fusing models via Gaussian mixtures can lag during maneuvers. Recent winnertakes-all (WTA) approaches react quickly but may produce discontinuities. We propose SAFE-IMM, a lightweight IMM variant for tracking on mobile and resource-limited platforms with a safe covariance-aware gate that permits WTA only when the implied jump from the mixture to the winner is provably bounded. In simulations and on nuScenes front-radar data, SAFE-IMM achieves high accuracy at real-time rates, reducing ID switches while maintaining competitive performance. The method is simple to integrate, numerically stable, and clutter-robust, offering a practical balance between responsiveness and smoothness. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_20294 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | SAFE-IMM: Robust and Lightweight Radar-Based Object Tracking on Mobile Platforms Mandaokar, Dnyandeep Rinner, Bernhard Systems and Control Tracking maneuvering targets requires estimators that are both responsive and robust. Interacting Multiple Model (IMM) filters are a standard tracking approach, but fusing models via Gaussian mixtures can lag during maneuvers. Recent winnertakes-all (WTA) approaches react quickly but may produce discontinuities. We propose SAFE-IMM, a lightweight IMM variant for tracking on mobile and resource-limited platforms with a safe covariance-aware gate that permits WTA only when the implied jump from the mixture to the winner is provably bounded. In simulations and on nuScenes front-radar data, SAFE-IMM achieves high accuracy at real-time rates, reducing ID switches while maintaining competitive performance. The method is simple to integrate, numerically stable, and clutter-robust, offering a practical balance between responsiveness and smoothness. |
| title | SAFE-IMM: Robust and Lightweight Radar-Based Object Tracking on Mobile Platforms |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2511.20294 |