Poisson multi-Bernoulli conjugate prior for multiple extended object filtering

This paper presents a Poisson multi-Bernoulli mixture (PMBM) conjugate prior for multiple extended object filtering. A Poisson point process is used to describe the existence of yet undetected targets, while a multi-Bernoulli mixture describes the distribution of the targets that have been detected. The prediction and update equations are presented for the standard transition density and measurement likelihood. Both the prediction and the update preserve the PMBM form of the density, and in this sense the PMBM density is a conjugate prior. However, the unknown data associations lead to an intractably large number of terms in the PMBM density, and approximations are necessary for tractability. A gamma Gaussian inverse Wishart implementation is presented, along with methods to handle the data association problem. A simulation study shows that the extended target PMBM filter performs well in comparison to the extended target d-GLMB and LMB filters. An experiment with Lidar data illustrates the benefit of tracking both detected and undetected targets

Galaxia: a code to generate a synthetic survey of the Milky Way

We present here a fast code for creating a synthetic survey of the Milky Way. Given one or more color-magnitude bounds, a survey size and geometry, the code returns a catalog of stars in accordance with a given model of the Milky Way. The model can be specified by a set of density distributions or as an N-body realization. We provide fast and efficient algorithms for sampling both types of models. As compared to earlier sampling schemes which generate stars at specified locations along a line of sight, our scheme can generate a continuous and smooth distribution of stars over any given volume. The code is quite general and flexible and can accept input in the form of a star formation rate, age metallicity relation, age velocity dispersion relation and analytic density distribution functions. Theoretical isochrones are then used to generate a catalog of stars and support is available for a wide range of photometric bands. As a concrete example we implement the Besancon Milky Way model for the disc. For the stellar halo we employ the simulated stellar halo N-body models of Bullock & Johnston (2005). In order to sample N-body models, we present a scheme that disperses the stars spawned by an N-body particle, in such a way that the phase space density of the spawned stars is consistent with that of the N-body particles. The code is ideally suited to generating synthetic data sets that mimic near future wide area surveys such as GAIA, LSST and HERMES. As an application we study the prospect of identifying structures in the stellar halo with a simulated GAIA survey. We plan to make the code publicly available at http://galaxia.sourceforge.net.Comment: Accepted for publication in Ap

Complexer-YOLO: Real-Time 3D Object Detection and Tracking on Semantic Point Clouds

Accurate detection of 3D objects is a fundamental problem in computer vision and has an enormous impact on autonomous cars, augmented/virtual reality and many applications in robotics. In this work we present a novel fusion of neural network based state-of-the-art 3D detector and visual semantic segmentation in the context of autonomous driving. Additionally, we introduce Scale-Rotation-Translation score (SRTs), a fast and highly parameterizable evaluation metric for comparison of object detections, which speeds up our inference time up to 20\% and halves training time. On top, we apply state-of-the-art online multi target feature tracking on the object measurements to further increase accuracy and robustness utilizing temporal information. Our experiments on KITTI show that we achieve same results as state-of-the-art in all related categories, while maintaining the performance and accuracy trade-off and still run in real-time. Furthermore, our model is the first one that fuses visual semantic with 3D object detection

A second-order PHD filter with mean and variance in target number

The Probability Hypothesis Density (PHD) and Cardinalized PHD (CPHD) filters are popular solutions to the multi-target tracking problem due to their low complexity and ability to estimate the number and states of targets in cluttered environments. The PHD filter propagates the first-order moment (i.e. mean) of the number of targets while the CPHD propagates the cardinality distribution in the number of targets, albeit for a greater computational cost. Introducing the Panjer point process, this paper proposes a second-order PHD filter, propagating the second-order moment (i.e. variance) of the number of targets alongside its mean. The resulting algorithm is more versatile in the modelling choices than the PHD filter, and its computational cost is significantly lower compared to the CPHD filter. The paper compares the three filters in statistical simulations which demonstrate that the proposed filter reacts more quickly to changes in the number of targets, i.e., target births and target deaths, than the CPHD filter. In addition, a new statistic for multi-object filters is introduced in order to study the correlation between the estimated number of targets in different regions of the state space, and propose a quantitative analysis of the spooky effect for the three filters

Ordered Navigation on Multi-attributed Data Words

We study temporal logics and automata on multi-attributed data words. Recently, BD-LTL was introduced as a temporal logic on data words extending LTL by navigation along positions of single data values. As allowing for navigation wrt. tuples of data values renders the logic undecidable, we introduce ND-LTL, an extension of BD-LTL by a restricted form of tuple-navigation. While complete ND-LTL is still undecidable, the two natural fragments allowing for either future or past navigation along data values are shown to be Ackermann-hard, yet decidability is obtained by reduction to nested multi-counter systems. To this end, we introduce and study nested variants of data automata as an intermediate model simplifying the constructions. To complement these results we show that imposing the same restrictions on BD-LTL yields two 2ExpSpace-complete fragments while satisfiability for the full logic is known to be as hard as reachability in Petri nets