4,834 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
A Collaborative Kalman Filter for Time-Evolving Dyadic Processes
We present the collaborative Kalman filter (CKF), a dynamic model for
collaborative filtering and related factorization models. Using the matrix
factorization approach to collaborative filtering, the CKF accounts for time
evolution by modeling each low-dimensional latent embedding as a
multidimensional Brownian motion. Each observation is a random variable whose
distribution is parameterized by the dot product of the relevant Brownian
motions at that moment in time. This is naturally interpreted as a Kalman
filter with multiple interacting state space vectors. We also present a method
for learning a dynamically evolving drift parameter for each location by
modeling it as a geometric Brownian motion. We handle posterior intractability
via a mean-field variational approximation, which also preserves tractability
for downstream calculations in a manner similar to the Kalman filter. We
evaluate the model on several large datasets, providing quantitative evaluation
on the 10 million Movielens and 100 million Netflix datasets and qualitative
evaluation on a set of 39 million stock returns divided across roughly 6,500
companies from the years 1962-2014.Comment: Appeared at 2014 IEEE International Conference on Data Mining (ICDM
Random Matrix Based Extended Target Tracking with Orientation: A New Model and Inference
In this study, we propose a novel extended target tracking algorithm which is
capable of representing the extent of dynamic objects as an ellipsoid with a
time-varying orientation angle. A diagonal positive semi-definite matrix is
defined to model objects' extent within the random matrix framework where the
diagonal elements have inverse-Gamma priors. The resulting measurement equation
is non-linear in the state variables, and it is not possible to find a
closed-form analytical expression for the true posterior because of the absence
of conjugacy. We use the variational Bayes technique to perform approximate
inference, where the Kullback-Leibler divergence between the true and the
approximate posterior is minimized by performing fixed-point iterations. The
update equations are easy to implement, and the algorithm can be used in
real-time tracking applications. We illustrate the performance of the method in
simulations and experiments with real data. The proposed method outperforms the
state-of-the-art methods when compared with respect to accuracy and robustness.Comment: 12 pages, 6 figures, submitted to IEEE TS
Bayesian multiple extended target tracking using labelled random finite sets and splines
In this paper, we propose a technique for the joint tracking and labelling of multiple extended targets. To achieve multiple extended target tracking using this technique, models for the target measurement rate, kinematic component and target extension are defined and jointly propagated in time under the generalised labelled multi-Bernoulli (GLMB) filter framework. In particular, we developed a Poisson mixture variational Bayesian (PMVB) model to simultaneously estimate the measurement rate of multiple extended targets and extended target extension was modelled using B-splines. We evaluated our proposed method with various performance metrics. Results demonstrate the effectiveness of our approach
Reparameterizing the Birkhoff Polytope for Variational Permutation Inference
Many matching, tracking, sorting, and ranking problems require probabilistic
reasoning about possible permutations, a set that grows factorially with
dimension. Combinatorial optimization algorithms may enable efficient point
estimation, but fully Bayesian inference poses a severe challenge in this
high-dimensional, discrete space. To surmount this challenge, we start with the
usual step of relaxing a discrete set (here, of permutation matrices) to its
convex hull, which here is the Birkhoff polytope: the set of all
doubly-stochastic matrices. We then introduce two novel transformations: first,
an invertible and differentiable stick-breaking procedure that maps
unconstrained space to the Birkhoff polytope; second, a map that rounds points
toward the vertices of the polytope. Both transformations include a temperature
parameter that, in the limit, concentrates the densities on permutation
matrices. We then exploit these transformations and reparameterization
gradients to introduce variational inference over permutation matrices, and we
demonstrate its utility in a series of experiments
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