2,481 research outputs found
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
Multi-Bernoulli Sensor-Control via Minimization of Expected Estimation Errors
This paper presents a sensor-control method for choosing the best next state
of the sensor(s), that provide(s) accurate estimation results in a multi-target
tracking application. The proposed solution is formulated for a multi-Bernoulli
filter and works via minimization of a new estimation error-based cost
function. Simulation results demonstrate that the proposed method can
outperform the state-of-the-art methods in terms of computation time and
robustness to clutter while delivering similar accuracy
Robust Distributed Fusion with Labeled Random Finite Sets
This paper considers the problem of the distributed fusion of multi-object
posteriors in the labeled random finite set filtering framework, using
Generalized Covariance Intersection (GCI) method. Our analysis shows that GCI
fusion with labeled multi-object densities strongly relies on label
consistencies between local multi-object posteriors at different sensor nodes,
and hence suffers from a severe performance degradation when perfect label
consistencies are violated. Moreover, we mathematically analyze this phenomenon
from the perspective of Principle of Minimum Discrimination Information and the
so called yes-object probability. Inspired by the analysis, we propose a novel
and general solution for the distributed fusion with labeled multi-object
densities that is robust to label inconsistencies between sensors.
Specifically, the labeled multi-object posteriors are firstly marginalized to
their unlabeled posteriors which are then fused using GCI method. We also
introduce a principled method to construct the labeled fused density and
produce tracks formally. Based on the developed theoretical framework, we
present tractable algorithms for the family of generalized labeled
multi-Bernoulli (GLMB) filters including -GLMB, marginalized
-GLMB and labeled multi-Bernoulli filters. The robustness and
efficiency of the proposed distributed fusion algorithm are demonstrated in
challenging tracking scenarios via numerical experiments.Comment: 17pages, 23 figure
Random Finite Set Theory and Optimal Control of Large Collaborative Swarms
Controlling large swarms of robotic agents has many challenges including, but
not limited to, computational complexity due to the number of agents,
uncertainty in the functionality of each agent in the swarm, and uncertainty in
the swarm's configuration. This work generalizes the swarm state using Random
Finite Set (RFS) theory and solves the control problem using Model Predictive
Control (MPC) to overcome the aforementioned challenges. Computationally
efficient solutions are obtained via the Iterative Linear Quadratic Regulator
(ILQR). Information divergence is used to define the distance between the swarm
RFS and the desired swarm configuration. Then, a stochastic optimal control
problem is formulated using a modified L2^2 distance. Simulation results using
MPC and ILQR show that swarm intensities converge to a target destination, and
the RFS control formulation can vary in the number of target destinations. ILQR
also provides a more computationally efficient solution to the RFS swarm
problem when compared to the MPC solution. Lastly, the RFS control solution is
applied to a spacecraft relative motion problem showing the viability for this
real-world scenario.Comment: arXiv admin note: text overlap with arXiv:1801.0731
Online Audio-Visual Multi-Source Tracking and Separation: A Labeled Random Finite Set Approach
The dissertation proposes an online solution for separating an unknown and time-varying number of moving sources using audio and visual data. The random finite set framework is used for the modeling and fusion of audio and visual data. This enables an online tracking algorithm to estimate the source positions and identities for each time point. With this information, a set of beamformers can be designed to separate each desired source and suppress the interfering sources
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