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This paper presents a systematic approach to evaluate the tracking performance limits for different sensor modalities (lidar, radar and vision) and for combination of these sensors modalities. The Cramer-Rao lower bound (CRLB) is used to predict the tracking performance limits for state of the art sensors such as the Continental ARS408 radar, Velodyne HDL-64E lidar and a state of the art monocular/stereo...
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