1 research outputs found
Regional variance for multi-object filtering
Recent progress in multi-object filtering has led to algorithms that compute
the first-order moment of multi-object distributions based on sensor
measurements. The number of targets in arbitrarily selected regions can be
estimated using the first-order moment. In this work, we introduce explicit
formulae for the computation of the second-order statistic on the target
number. The proposed concept of regional variance quantifies the level of
confidence on target number estimates in arbitrary regions and facilitates
information-based decisions. We provide algorithms for its computation for the
Probability Hypothesis Density (PHD) and the Cardinalized Probability
Hypothesis Density (CPHD) filters. We demonstrate the behaviour of the regional
statistics through simulation examples