V. J. Aidala and S. E. Hammel, Utilization of modified polar coordinates for bearings-only tracking, IEEE Transactions on Automatic Control, vol.28, issue.3, pp.283-294, 1983.
DOI : 10.1109/TAC.1983.1103230

A. Antoniadis, J. Berruyer, and R. Carmona, Régression non linéaire et applications, Economica ISBN, vol.2, 1992.

M. S. Arulampalam, S. Maksell, N. J. Gordon, and T. Clapp, A tutorial on particle filters for on-line non-linear/non-gaussian bayesian tracking. Special issue on Monte Carlo Methods for Statistical Signal Processing, IEEE Transactions on signal Processing, issue.2, p.50, 2002.

D. Aubert, D. Gruyer, R. Labayrade, and C. Royere, Détection d'obstacle par fusion de données multi-capteur (stéréovision/laser) Rapport arcos, 2004.

R. Aufrère, Reconnaissance et suivi de route par vision artificielle, applicationàapplication`applicationà la conduite, 2001.

R. Aufrère, J. Gowdy, C. Mertz, C. Thorpe, and C. Wang, Perception for collision avoidance and autonomous driving, IMechatronics, pp.1149-1161, 2003.
DOI : 10.1016/S0957-4158(03)00047-3

Y. Bar-shalom and K. C. Chang, Joint probabilistic data association for multiple target tracking with possibly unresolved measurements and manoeuvers, IEEE Trans. on Automatic Control, vol.29, pp.585-594, 1994.

Y. Bar-shalom and T. E. Fortmann, Tracking and data association Mathematics in science and engineering, 1988.

Y. Bar-shalom and X. R. Li, Estimation and Tracking : Principles, Techniques and Software
DOI : 10.1109/map.1996.491294

Y. Bar-shalom, X. R. Li, and T. Kirubarajan, Estimation with applications to tracking and navigation, 2001.
DOI : 10.1002/0471221279

P. Batavia, D. Pomerleau, and C. Thorpes, Overtaking vehicle detection using implicit optical flow, CMU, 1997.

A. Bensrhair, M. Bertozzi, A. Broggi, P. Miché, S. Mousset et al., A cooperative approach to vision-based vehicle detection, ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585), 2001.
DOI : 10.1109/ITSC.2001.948657

M. Bertossi, A. Broggi, G. Conte, and A. Fascioli, Stereo-vision system performance analysis, Enabling Technologies for the PRASSI Autonomous Robot, pp.68-73, 2002.

M. Bertossi, A. Broggi, and A. Fascioli, Vision-based intelligent vehicles: State of the art and perspectives, Jounal of Robotics of Robotics and Autonomous Systems, 2000.
DOI : 10.1016/S0921-8890(99)00125-6

S. Blackman and R. Popoli, Design and Analysis of Modern Tracking Systems, 1999.

C. Blanc, R. Aufrère, L. Malaterre, J. Gallice, and J. Alizon, Obstacle detection and tracking by millimeter wave radar, 2004.

C. Blanc, L. Trassoudaine, Y. Leguilloux, and R. Moreira, Track to track fusion applied to raod obstacle detection, ISIF 2004, 2004.

S. Bohrer, T. Zielke, and V. Freiburg, An integrated obstacle detection framework for intelligent cruise control on motorways, Proceedings of the Intelligent Vehicles '95. Symposium, p.1995, 1995.
DOI : 10.1109/IVS.1995.528293

K. Bury, Statistical distributions in engineering, 1999.

P. Chang, T. Camus, and R. Mandelbaum, Stereo-based vision system for automotive imminent collision detection, IEEE Intelligent Vehicles Symposium, 2004, 2004.
DOI : 10.1109/IVS.2004.1336394

P. Checchin, Segmentation d'images de profondeur, 1996.

H. Chen, T. Kirubarajan, and Y. Bar-shalom, Performance limits of track-to-track fusion vs. centralized estimation : Theory and application, IEEE transactions on Aerospace and Electronics Systems, pp.386-400, 2003.

Y. Chen and Y. Rui, Real-Time Speaker Tracking Using Particle Filter Sensor Fusion, Proceedings of the IEEE, pp.485-494, 2004.
DOI : 10.1109/JPROC.2003.823146

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=

X. Clady, ContributionsàContributions`Contributionsà la navigation autonome d'un véhicule automobile par vision, 2003.

S. Coraluppi and C. Carthel, Recursive track fusion for multi-sensor surveillance, Information Fusion, vol.5, issue.1, pp.23-33, 2004.
DOI : 10.1016/j.inffus.2003.03.003

P. Cornic, Method and system for object detection within angular zone, and its applications, 1997.

T. Dang and C. Hoffmann, Stereo calibration in vehicles, IEEE Intelligent Vehicles Symposium, 2004, 2004.
DOI : 10.1109/IVS.2004.1336393

E. D. Dickmanns and A. Zapp, <title>A Curvature-based Scheme for Improving Road Vehicle Guidance by Computer Vision</title>, Mobile Robots I, 1986.
DOI : 10.1117/12.937795

K. Dietmayer, J. Sparbert, and D. Streller, Model based object classification and object tracking in traffic scenes from range images, IEEE Intelligent Vehicles Symposium 2001, IV2001, Tokyo (Japan), 2001.

A. Doucet, Monte Carlo Methods for Bayesian Estimation of Hidden Markov Models. Application to Radiation Signals, 1997.

A. Doucet, On sequential monte carlo methods for bayesian filtering. Rapport technique, université de cambridge, 1998.

A. Doucet, N. De-freitas, and N. J. Gordon, Sequential Monte Carlo Methods in Practice
DOI : 10.1007/978-1-4757-3437-9

A. Doucet, B. N. Vo, C. Andrieu, and M. Davy, Particle filtering for multi-target tracking and sensor management, Proceedings of the Fifth International Conference on Information Fusion. FUSION 2002. (IEEE Cat.No.02EX5997), 2002.
DOI : 10.1109/ICIF.2002.1021192

A. Eidehall and F. Gustafsson, Combined road prediction and target tracking in collision avoidance, IEEE Intelligent Vehicles Symposium, 2004, 2004.
DOI : 10.1109/IVS.2004.1336455

W. Enkelmann, Obstacle detection by evaluation of optical flow fields from image sequences

A. Ewald and V. Willhoeft, Laser scanners for obstacle detection in automotive applications, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511)
DOI : 10.1109/IVS.2000.898427

A. Farina and S. Pardini, Track-While-Scan Algorithm in a Clutter Environment, IEEE Transactions on Aerospace and Electronic Systems, vol.14, issue.5, pp.769-779, 1978.
DOI : 10.1109/TAES.1978.308628

U. Franke, Real-time stereo vision for urban traffic scene understanding, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511), pp.267-272, 2000.
DOI : 10.1109/IVS.2000.898354

U. Franke, A. Joose, and B. Aguirre, Early detection of potentielly harmful traffic situations with children, IEEE Intelligent Vehicles Symposium 2001, IV2001, Tokyo (Japan), 2001.

J. Fritz, Anticollision method for vehicles, 1998.

K. Fürstanberg and K. Dietmayer, Object tracking and classification for multiple active safety and confort applications using a multilayer laserscanner, IEEE Intelligent Vehicles Symposium, 2004.

A. Gad, M. Farooq, J. Serdula, and D. Peters, multitarget tracking in a multisensor multiplatform environment, 2004.

J. B. Gao and C. J. Harris, Some remarks on Kalman filters for the multisensor fusion, Information Fusion, vol.3, issue.3, pp.191-201, 2002.
DOI : 10.1016/S1566-2535(02)00070-2

W. R. Gilks and C. Berzuini, Following a moving target-Monte Carlo inference for dynamic Bayesian models, Journal of the Royal Statistical Society: Series B (Statistical Methodology), vol.63, issue.1, pp.127-146, 2001.
DOI : 10.1111/1467-9868.00280

N. J. Gordon, D. J. Salmond, and A. F. Smith, Novel approach to nonlinear/non-Gaussian Bayesian state estimation, IEE Proceedings F Radar and Signal Processing, vol.140, issue.2, pp.107-113, 1993.
DOI : 10.1049/ip-f-2.1993.0015

J. Hancock, Laser intensity-based obstacle detection and tracking The robotics institute, Carnegie Mellon university, 1999.

J. Hancock, M. Hebert, and C. Thorpe, Laser intensity-based obstacle detection, Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No.98CH36190)
DOI : 10.1109/IROS.1998.724817

M. Hariyama, T. Takeuchi, and M. Kameyama, Reliable stereo matching for highly-safe intelligent vehicles and its VLSI implementation, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511), pp.267-272, 2000.
DOI : 10.1109/IVS.2000.898330

U. Hofmann, A. Rieder, and E. D. Dickmanns, Radar and vision data fusion for hybrid adaptive cruise control on highways, Machine Vision and Applications, pp.42-49, 2003.

J. D. Hol, Resampling in particle filters. Rapport technique, université de linköping,sù ede, department of electrical engineering, 2004.

C. Hue, J. P. Le-cadre, and P. Pérez, Sequential Monte Carlo methods for multiple target tracking and data fusion, IEEE Transactions on Signal Processing, pp.309-325, 2002.
DOI : 10.1109/78.978386

C. Hue, J. P. Lecadre, and P. Pérez, The (mr)mtpf : particle filters to track multiple targets using multiple receivers, 2001.

S. Hun, Z. Jing, and H. Leung, Optimal fusion algorithm baaed on multi-sensor tracking, 2004.

D. Hutber, Suivi multi-capteurs de cibles multiples en vision par ordinateur, appliquéappliqué`appliquéà un véhicule dans un environnement routier, 1995.

. Jouannin, Association et fusion de données : Application au suivi etàet`età la localisation d'obstacles par radaràradar`radarà bord d'un véhicule routier intelligent, 1999.

S. J. Julier and J. K. Uhlmann, New extension of the Kalman filter to nonlinear systems, Signal Processing, Sensor Fusion, and Target Recognition VI, 1997.
DOI : 10.1117/12.280797

R. E. Kalman, A New Approach to Linear Filtering and Prediction Problems, Journal of Basic Engineering, vol.82, issue.1, pp.35-45, 1960.
DOI : 10.1115/1.3662552

T. Kato, T. Tanizaki, T. Ishii, H. Tanaka, and Y. Takimoto, 76 ghz high performance radar sensor featuring fine step scanning mechanism utilizing nrd technology, IEEE Intelligent Vehicles Symposium 2001, IV2001, Tokyo (Japan), 2001.

A. Kirchner and C. Ameling, Integrated obstacle and road tracking using a laser scanner, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511), 2000.
DOI : 10.1109/IVS.2000.898426

C. Knoepell, B. Michaelis, and A. Schanz, Robust vehicle detection at large distance using low resolution cameras, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511), pp.267-272, 2000.
DOI : 10.1109/IVS.2000.898353

B. Kumar, Detection system. MARCONI GEC LTD Patent EP0498524, 1992.

H. Kuroda, S. Kuragaki, T. Minowa, and K. Nakamura, An adaptive cruise control system using a millimeter wave radar, IEEE Intelligent Vehicles Symposium, 1998.

R. Labayrade, D. Aubert, and J. P. , Real time obstacle detection in stereovision on non flat road geometry through "v-disparity" representation, Intelligent Vehicle Symposium, 2002. IEEE, 2002.
DOI : 10.1109/IVS.2002.1188024

J. Laneurit, Localisation d'un véhicule dans un environnement cartographié par un filtrè a particules, 2004.

J. Laneurit, C. Blanc, R. Chapuis, and L. Trassoudaine, Multisensorial data fusion for global vehicle and obstacles absolute positionning, IV2003, pp.138-143, 2003.

D. Langer, An integrated MMW radar system for outdoor navigation, Proceedings of IEEE International Conference on Robotics and Automation, 1997.
DOI : 10.1109/ROBOT.1996.503812

F. Legland, Filtrage particulaire Mathstic cha??nescha??nes de markov cachées et filtrage particulaire, méthodes particulaires (as 67) du département stic, 2002.

X. R. Li and V. P. Jilkov, Survey of maneuvering target tracking

J. S. Liu and R. Chen, Sequential Monte Carlo Methods for Dynamic Systems, Journal of the American Statistical Association, vol.24, issue.443, pp.1032-1044, 1998.
DOI : 10.1073/pnas.94.26.14220

L. Malaterre, Système d'acquisition de données d'un radar automobile 77 ghz, 2003.

P. A. May, Vehicle duplex doppler near-obstacle detection apparatus, DELCO ELECTRO- NICS CORP Patent EP0367404, 1990.

P. Mayenobe, Perception de l'environnement pour une gestion contextualisée de la coopération homme-machine, 2004.

R. Möbus and U. Kolbe, Multi-target multi-object tracking, sensor fusion of radar and infrared, IEEE Intelligent Vehicles Symposium, 2004
DOI : 10.1109/IVS.2004.1336475

A. Mendes, L. C. Bento, and U. Nunes, Multi-target detection and tracking with a laserscanner, IEEE Intelligent Vehicles Symposium, 2004, 2004.
DOI : 10.1109/IVS.2004.1336486

D. Musicki and R. J. Evans, Joint integrated probabilistic data association, ISIF 2002, 2002.

D. Musicki, R. J. Evans, and S. Stankovic, Integrated probabilistic data association, IEEE Transactions on Automatic Control, vol.39, issue.6, pp.1237-1241, 1994.
DOI : 10.1109/9.293185

D. Musicki and M. R. Morelande, Gate volume estimation for target tracking, ISIF 2004, 2004.

D. Musicki, B. F. Scala, and R. J. Evans, Integrated track splitting filter for manoeuvring targets, ISIF 2004, Stockolm Sù ede), 2004.

C. Musso, N. Oudjane, and F. Legland, Improving regularised particle filters. Sequential Monte Carlo Methods in Practice, 2001.

L. Y. Pao and R. M. Powers, A comparison of several different approaches for target tracking with clutter, Proceedings of the 2003 American Control Conference, 2003., pp.3919-3924, 2003.
DOI : 10.1109/ACC.2003.1240448

J. Rebut, G. Toulminet, and A. Bensrhair, Road obstacles detection usin a self-adaptive stereo vision sensor : a contribution to the arcos project, IEEE Intelligent Vehicles Symposium, 2004.

D. B. Reid, An algorithm for tracking multiple targets, IEEE Transactions on Automatic Control, vol.24, issue.6, pp.843-854, 1979.
DOI : 10.1109/TAC.1979.1102177

B. Ristic, M. S. Arulampalam, and N. J. Gordon, Beyond the Kalman Filter-Particle Filters for Tracking Applications. Number ISBN 1-58053-631-X, 2004.

B. Ristic, S. Arulampalam, and J. Mccarthy, Target motion analysis using range-only measurements: algorithms, performance and application to ISAR data, Signal Processing, vol.82, issue.2, pp.273-296, 2002.
DOI : 10.1016/S0165-1684(01)00187-6

A. Rossettini, Radar detector for vehicle suitable in close range apllications, SMA SIGNALAMENTO MARITIMO ED Patent EP0487464, 1992.

B. F. , L. Scala, and A. Farina, Choosing a track association method, Information Fusion, issue.3, pp.119-133, 2002.

B. F. , L. Scala, and G. W. Pulford, A viterbi algorithm for data association, 35th Conf. on Decision and Control, 1996.

M. I. Skolnik, Introduction to Radar Systems. Me Graw Hill inc, 1980.

A. Sole, O. Mano, G. Stein, H. Kumon, Y. Tamatsu et al., Solid or not solid: vision for radar target validation, IEEE Intelligent Vehicles Symposium, 2004, 2004.
DOI : 10.1109/IVS.2004.1336490

T. L. Song, Observability of target tracking with range-only meausrements, IEEE Journal of Oceanic Egineering, vol.24, issue.3, 1999.

C. Stiller, J. Hipp, C. Rossig, and A. Ewald, Multisensor obstacle detection and tracking, Image and Vision Computing, pp.389-396, 2000.
DOI : 10.1016/S0262-8856(99)00034-7

S. Sun and Z. Deng, Multi-sensor optimal information fusion Kalman filter, Automatica, pp.1017-1023, 2004.
DOI : 10.1016/j.automatica.2004.01.014

C. Thorpe, M. Hebert, T. Kanade, and S. Shafer, Vision and navigation for the canergie-melon navlab, IEEE Transactions on Pattern Analysis and Machine Intelligence, pp.362-373, 1988.

P. Tichavsky, C. Muravchik, and A. Nehorai, Posterior Cramer-Rao bounds for discrete-time nonlinear filtering, IEEE Transactions on Signal Processing, vol.46, issue.5, pp.1386-1396, 1968.
DOI : 10.1109/78.668800

L. Trassoudaine, Solution multisensorielle temps réel pour la détection d'obstacles sur route, 1993.

T. Uebo, T. Kitagawa, and T. Iritani, Short range radar utilizing standing wave of microwave or millimeter wave, IEEE Intelligent Vehicles Symposium 2001, IV2001, Tokyo (Japan), 2001.

E. A. Wan and R. Van-der-merwe, The unscented Kalman filter for nonlinear estimation, Proceedings of the IEEE 2000 Adaptive Systems for Signal Processing, Communications, and Control Symposium (Cat. No.00EX373), pp.153-158, 2000.
DOI : 10.1109/ASSPCC.2000.882463

X. Wang, S. Challa, and R. J. Evans, Gating techniques for maneuvering target tracking in clutter, IEEE Transactions on Aerospace and Electronic Systems, vol.38, issue.3, pp.1087-1097, 2002.
DOI : 10.1109/TAES.2002.1039426

E. W. Weisstein, Chapman-kolmogorov equation

Y. Bar-shalom, T. Kirubarajan, and X. Lin, Multisensor-multitarget bias estimation for general asynchronous sensors, 2004.

M. Xie, L. Trassoudaine, J. Alizon, and J. Gallice, Road obstacle detection and tracking by an active and intelligent sensing strategy, Machine Vision and Applications, pp.165-177, 1994.
DOI : 10.1007/BF01211661

Y. Xue and D. Morrell, Target tracking and data fusion using multiple adaptive foveal sensors

. Zang, Multimode radar for road vehicle blind-zone target discrimination, DELCO ELECTRONICS CORP Patent US5325097, 1994.

Y. Zhu, Z. You, J. Zhao, K. Zhang, and X. Li, The optimaly for the distributed kalman filtering fusion with feedback, Automatica, pp.1489-1493, 2001.