Extended Object Tracking: Introduction, Overview and Applications

This article provides an elaborate overview of current research in extended object tracking. We provide a clear definition of the extended object tracking problem and discuss its delimitation to other types of object tracking. Next, different aspects of extended object modelling are extensively discussed. Subsequently, we give a tutorial introduction to two basic and well used extended object tracking approaches - the random matrix approach and the Kalman filter-based approach for star-convex shapes. The next part treats the tracking of multiple extended objects and elaborates how the large number of feasible association hypotheses can be tackled using both Random Finite Set (RFS) and Non-RFS multi-object trackers. The article concludes with a summary of current applications, where four example applications involving camera, X-band radar, light detection and ranging (lidar), red-green-blue-depth (RGB-D) sensors are highlighted.Comment: 30 pages, 19 figure

Using Bayesian Programming for Multisensor Multi-Target Tracking in Automative Applications

A prerequisite to the design of future Advanced Driver Assistance Systems for cars is a sensing system providing all the information required for high-level driving assistance tasks. Carsense is a European project whose purpose is to develop such a new sensing system. It will combine different sensors (laser, radar and video) and will rely on the fusion of the information coming from these sensors in order to achieve better accuracy, robustness and an increase of the information content. This paper demonstrates the interest of using probabilistic reasoning techniques to address this challenging multi-sensor data fusion problem. The approach used is called Bayesian Programming. It is a general approach based on an implementation of the Bayesian theory. It was introduced rst to design robot control programs but its scope of application is much broader and it can be used whenever one has to deal with problems involving uncertain or incomplete knowledge

Multi-modal Embedding Fusion-based Recommender

Recommendation systems have lately been popularized globally, with primary use cases in online interaction systems, with significant focus on e-commerce platforms. We have developed a machine learning-based recommendation platform, which can be easily applied to almost any items and/or actions domain. Contrary to existing recommendation systems, our platform supports multiple types of interaction data with multiple modalities of metadata natively. This is achieved through multi-modal fusion of various data representations. We deployed the platform into multiple e-commerce stores of different kinds, e.g. food and beverages, shoes, fashion items, telecom operators. Here, we present our system, its flexibility and performance. We also show benchmark results on open datasets, that significantly outperform state-of-the-art prior work.Comment: 7 pages, 8 figure