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

Improving Detection of Dim Targets: Optimization of a Moment-based Detection Algorithm

Wide area motion imagery (WAMI) sensor technology is advancing rapidly. Increases in frame rates and detector array sizes have led to a dramatic increase in the volume of data that can be acquired. Without a corresponding increase in analytical manpower, much of these data remain underutilized. This creates a need for fast, automated, and robust methods for detecting dim, moving signals of interest. Current approaches fall into two categories: detect-before-track (DBT) and track-before-detect (TBD) methods. The DBT methods use thresholding to reduce the quantity of data to be processed, making real time implementation practical but at the cost of the ability to detect low signal to noise ratio (SNR) targets without acceptance of a high false alarm rate. TBD methods exploit both the temporal and spatial information simultaneously to make detection of low SNR targets possible, but at the cost of computation time. This research seeks to contribute to the near real time detection of low SNR, unresolved moving targets through an extension of earlier work on higher order moments anomaly detection, a method that exploits both spatial and temporal information but is still computationally efficient and massively parallellizable. The MBD algorithm was found to detect targets comparably with leading TBD methods in 1000th the time

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

Multi-Robot Active Information Gathering Using Random Finite Sets

Many tasks in the modern world involve collecting information, such as infrastructure inspection, security and surveillance, environmental monitoring, and search and rescue. All of these tasks involve searching an environment to detect, localize, and track objects of interest, such as damage to roadways, suspicious packages, plant species, or victims of a natural disaster. In any of these tasks the number of objects of interest is often not known at the onset of exploration. Teams of robots can automate these often dull, dirty, or dangerous tasks to decrease costs and improve speed and safety. This dissertation addresses the problem of automating data collection processes, so that a team of mobile sensor platforms is able to explore an environment to determine the number of objects of interest and their locations. In real-world scenarios, robots may fail to detect objects within the field of view, receive false positive measurements to clutter objects, and be unable to disambiguate true objects. This makes data association, i.e., matching individual measurements to targets, difficult. To account for this, we utilize filtering algorithms based on random finite sets to simultaneously estimate the number of objects and their locations within the environment without the need to explicitly consider data association. Using the resulting estimates they receive, robots choose actions that maximize the mutual information between the set of targets and the binary events of receiving no detections. This effectively hedges against uninformative actions and leads to a closed form equation to compute mutual information, allowing the robot team to plan over a long time horizon. The robots either communicate with a central agent, which performs the estimation and control computations, or act in a decentralized manner. Our extensive hardware and simulated experiments validate the unified estimation and control framework, using robots with a wide variety of mobility and sensing capabilities to showcase the broad applicability of the framework

Hyperspectral-Augmented Target Tracking

With the global war on terrorism, the nature of military warfare has changed significantly. The United States Air Force is at the forefront of research and development in the field of intelligence, surveillance, and reconnaissance that provides American forces on the ground and in the air with the capability to seek, monitor, and destroy mobile terrorist targets in hostile territory. One such capability recognizes and persistently tracks multiple moving vehicles in complex, highly ambiguous urban environments. The thesis investigates the feasibility of augmenting a multiple-target tracking system with hyperspectral imagery. The research effort evaluates hyperspectral data classification using fuzzy c-means and the self-organizing map clustering algorithms for remote identification of moving vehicles. Results demonstrate a resounding 29.33% gain in performance from the baseline kinematic-only tracking to the hyperspectral-augmented tracking. Through a novel methodology, the hyperspectral observations are integrated in the MTT paradigm. Furthermore, several novel ideas are developed and implemented—spectral gating of hyperspectral observations, a cost function for hyperspectral observation-to-track association, and a self-organizing map filtering method. It appears that relatively little work in the target tracking and hyperspectral image classification literature exists that addresses these areas. Finally, two hyperspectral sensor modes are evaluated—Pushbroom and Region-of-Interest. Both modes are based on realistic technologies, and investigating their performance is the goal of performance-driven sensing. Performance comparison of the two modes can drive future design of hyperspectral sensors

Robust Multi-Object Tracking: A Labeled Random Finite Set Approach

The labeled random finite set based generalized multi-Bernoulli filter is a tractable analytic solution for the multi-object tracking problem. The robustness of this filter is dependent on certain knowledge regarding the multi-object system being available to the filter. This dissertation presents techniques for robust tracking, constructed upon the labeled random finite set framework, where complete information regarding the system is unavailable