21,757 research outputs found
Passive Multi-Target Tracking Using the Adaptive Birth Intensity PHD Filter
Passive multi-target tracking applications require the integration of
multiple spatially distributed sensor measurements to distinguish true tracks
from ghost tracks. A popular multi-target tracking approach for these
applications is the particle filter implementation of Mahler's probability
hypothesis density (PHD) filter, which jointly updates the union of all target
state space estimates without requiring computationally complex
measurement-to-track data association. Although this technique is attractive
for implementation in computationally limited platforms, the performance
benefits can be significantly overshadowed by inefficient sampling of the
target birth particles over the region of interest. We propose a multi-sensor
extension of the adaptive birth intensity PHD filter described in (Ristic,
2012) to achieve efficient birth particle sampling driven by online sensor
measurements from multiple sensors. The proposed approach is demonstrated using
distributed time-difference-of-arrival (TDOA) and
frequency-difference-of-arrival (FDOA) measurements, in which we describe exact
techniques for sampling from the target state space conditioned on the
observations. Numerical results are presented that demonstrate the increased
particle density efficiency of the proposed approach over a uniform birth
particle sampler.Comment: 21st International Conference on Information Fusio
FISST Based Method for Multi-Target Tracking in the Image Plane of Optical Sensors
A finite set statistics (FISST)-based method is proposed for multi-target tracking in the image plane of optical sensors. The method involves using signal amplitude information in probability hypothesis density (PHD) filter which is derived from FISST to improve multi-target tracking performance. The amplitude of signals generated by the optical sensor is modeled first, from which the amplitude likelihood ratio between target and clutter is derived. An alternative approach is adopted for the situations where the signal noise ratio (SNR) of target is unknown. Then the PHD recursion equations incorporated with signal information are derived and the Gaussian mixture (GM) implementation of this filter is given. Simulation results demonstrate that the proposed method achieves significantly better performance than the generic PHD filter. Moreover, our method has much lower computational complexity in the scenario with high SNR and dense clutter
Multi-Sensor PHD by Space Partionning: Computation of a True Reference Density Within The PHD Framework
International audienceIn a previous paper, the authors proposed an extension of the Probability Hypothesis Density (PHD), a well-known method for singlesensor multi-target tracking problems in a Bayesian framework, to the multi-sensor case. The true expression of the multi-sensor data update PHD equation was constructed using finite sets statistics (FISST) derivative techniques on functionals defined onmulti-sensor observation and state space named "cross-terms". In this paper, an equivalent expression in a combinational form is provided, which allows an easier interpretation of the data update equation. Then, using the joint partitioning proposed by the authors in the previous paper, an exact multi-sensor multi-target PHD filter is efficiently propagated on a benchmark scenario involving 10 sensors and up to 10 simultaneous targets where the brute force approach would have been extremely burdensome. The availability of a true reference PHD then allows a validation of the classical iterated-corrector approximation method, albeit limited to the scope of the implemented scenario
Multisensor Poisson Multi-Bernoulli Filter for Joint Target-Sensor State Tracking
In a typical multitarget tracking (MTT) scenario, the sensor state is either
assumed known, or tracking is performed in the sensor's (relative) coordinate
frame. This assumption does not hold when the sensor, e.g., an automotive
radar, is mounted on a vehicle, and the target state should be represented in a
global (absolute) coordinate frame. Then it is important to consider the
uncertain location of the vehicle on which the sensor is mounted for MTT. In
this paper, we present a multisensor low complexity Poisson multi-Bernoulli MTT
filter, which jointly tracks the uncertain vehicle state and target states.
Measurements collected by different sensors mounted on multiple vehicles with
varying location uncertainty are incorporated sequentially based on the arrival
of new sensor measurements. In doing so, targets observed from a sensor mounted
on a well-localized vehicle reduce the state uncertainty of other poorly
localized vehicles, provided that a common non-empty subset of targets is
observed. A low complexity filter is obtained by approximations of the joint
sensor-feature state density minimizing the Kullback-Leibler divergence (KLD).
Results from synthetic as well as experimental measurement data, collected in a
vehicle driving scenario, demonstrate the performance benefits of joint
vehicle-target state tracking.Comment: 13 pages, 7 figure
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
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
Information measures in distributed multitarget tracking
In this paper, we consider the role that different information measures play in the problem of decentralised multi-target tracking. In many sensor networks, it is not possible to maintain the full joint probability distribution and so suboptimal algorithms must be used. We use a distributed form of the Probability Hypothesis Density (PHD) filter based on a generalisation of covariance intersection known as exponential mixture densities (EMDs). However, EMD-based fusion must be actively controlled to optimise the relative weights placed on different information sources. We explore the performance consequences of using different information measures to optimise the update. By considering approaches that minimise absolute information (entropy and Rényi entropy) or equalise divergence (Kullback-Leibler Divergence and Rényi Divergence), we show that the divergence measures are both simpler and easier to work with. Furthermore, in our simulation scenario, the performance is very similar with all the information measures considered, suggesting that the simpler measures can be used. © 2011 IEEE
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