== Abstract ==

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For a profound understanding of traffic situations including a prediction of traf-       fic participants’ future motion, behaviors and routes it is crucial to incorporate all       available environmental observations. The presence of sensor noise and depen-       dency uncertainties, the variety of available sensor data, the complexity of large       traffic scenes and the large number of different estimation tasks with diverging       requirements require a general method that gives a robust foundation for the de-       velopment of estimation applications.       In this work, a general description language, called Object-Oriented Factor Graph       Modeling Language (OOFGML), is proposed, that unifies formulation of esti-       mation tasks from the application-oriented problem description via the choice       of variable and probability distribution representation through to the inference       method definition in implementation. The different language properties are dis-       cussed theoretically using abstract examples.       The derivation of explicit application examples is shown for the automated driv-       ing domain. A domain-specific ontology is defined which forms the basis for       four exemplary applications covering the broad spectrum of estimation tasks in       this domain: Basic temporal filtering, ego vehicle localization using advanced       interpretations of perceived objects, road layout perception utilizing inter-object       dependencies and finally highly integrated route, behavior and motion estima-       tion to predict traffic participant’s future actions. All applications are evaluated       as proof of concept and provide an example of how their class of estimation tasks       can be represented using the proposed language. The language serves as a com-       mon basis and opens a new field for further research towards holistic solutions      for automated driving.

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== Original document ==

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The different versions of the original document can be found in:

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* [http://dx.doi.org/10.5445/ir/1000118076 http://dx.doi.org/10.5445/ir/1000118076]

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* [https://publikationen.bibliothek.kit.edu/1000118076 https://publikationen.bibliothek.kit.edu/1000118076],

: [https://publikationen.bibliothek.kit.edu/1000118076/70299205 https://publikationen.bibliothek.kit.edu/1000118076/70299205],

: [https://doi.org/10.5445/IR/1000118076 https://doi.org/10.5445/IR/1000118076]

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