8,335 research outputs found
Sensor Control for Multi-Object Tracking Using Labeled Multi-Bernoulli Filter
The recently developed labeled multi-Bernoulli (LMB) filter uses better
approximations in its update step, compared to the unlabeled multi-Bernoulli
filters, and more importantly, it provides us with not only the estimates for
the number of targets and their states, but also with labels for existing
tracks. This paper presents a novel sensor-control method to be used for
optimal multi-target tracking within the LMB filter. The proposed method uses a
task-driven cost function in which both the state estimation errors and
cardinality estimation errors are taken into consideration. Simulation results
demonstrate that the proposed method can successfully guide a mobile sensor in
a challenging multi-target tracking scenario
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
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
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