Robust Multi-Object Tracking: A Labeled Random Finite Set Approach

The labeled random finite set based generalized multi-Bernoulli filter is a tractable analytic solution for the multi-object tracking problem. The robustness of this filter is dependent on certain knowledge regarding the multi-object system being available to the filter. This dissertation presents techniques for robust tracking, constructed upon the labeled random finite set framework, where complete information regarding the system is unavailable

Distributed estimation over a low-cost sensor network: a review of state-of-the-art

Proliferation of low-cost, lightweight, and power efficient sensors and advances in networked systems enable the employment of multiple sensors. Distributed estimation provides a scalable and fault-robust fusion framework with a peer-to-peer communication architecture. For this reason, there seems to be a real need for a critical review of existing and, more importantly, recent advances in the domain of distributed estimation over a low-cost sensor network. This paper presents a comprehensive review of the state-of-the-art solutions in this research area, exploring their characteristics, advantages, and challenging issues. Additionally, several open problems and future avenues of research are highlighted

A Gaussian inverse Wishart PHD Filter using Stochastic Partitioning for Multiple Extended Object Tracking

This thesis deals with the object tracking problem of multiple extended objects. For instance, this tracking problem occurs when a car with sensors drives on the road and detects multiple other cars in front of it. When the setup between the senor and the other cars is in a such way that multiple measurements are created by each single car, the cars are called extended objects. This can occur in real world scenarios, mainly with the use of high resolution sensors in near field applications. Such a near field scenario leads a single object to occupy several resolution cells of the sensor so that multiple measurements are generated per scan. The measurements are additionally superimposed by the sensor’s noise. Beside the object generated measurements, there occur false alarms, which are not caused by any object and sometimes in a sensor scan, single objects could be missed so that they not generate any measurements. To handle these scenarios, object tracking filters are needed to process the sensor measurements in order to obtain a stable and accurate estimate of the objects in each sensor scan. In this thesis, the scope is to implement such a tracking filter that handles the extended objects, i.e. the filter estimates their positions and extents. In context of this, the topic of measurement partitioning occurs, which is a pre-processing of the measurement data. With the use of partitioning, the measurements that are likely generated by one object are put into one cluster, also called cell. Then, the obtained cells are processed by the tracking filter for the estimation process. The partitioning of measurement data is a crucial part for the performance of tracking filter because insufficient partitioning leads to bad tracking performance, i.e. inaccurate object estimates. In this thesis, a Gaussian inverse Wishart Probability Hypothesis Density (GIW-PHD) filter was implemented to handle the multiple extended object tracking problem. Within this filter framework, the number of objects are modelled as Random Finite Sets (RFSs) and the objects’ extent as random matrices (RM). The partitioning methods that are used to cluster the measurement data are existing ones as well as a new approach that is based on likelihood sampling methods. The applied classical heuristic methods are Distance Partitioning (DP) and Sub-Partitioning (SP), whereas the proposed likelihood-based approach is called Stochastic Partitioning (StP). The latter was developed in this thesis based on the Stochastic Optimisation approach by Granström et al. An implementation, including the StP method and its integration into the filter framework, is provided within this thesis. The implementations, using the different partitioning methods, were tested on simulated random multi-object scenarios and in a fixed parallel tracking scenario using Monte Carlo methods. Further, a runtime analysis was done to provide an insight into the computational effort using the different partitioning methods. It emphasized, that the StP method outperforms the classical partitioning methods in scenarios, where the objects move spatially close. The filter using StP performs more stable and with more accurate estimates. However, this advantage is associated with a higher computational effort compared to the classical heuristic partitioning methods

Human-Level Performance on Word Analogy Questions by Latent Relational Analysis

This paper introduces Latent Relational Analysis (LRA), a method for measuring relational similarity. LRA has potential applications in many areas, including information extraction, word sense disambiguation, machine translation, and information retrieval. Relational similarity is correspondence between relations, in contrast with attributional similarity, which is correspondence between attributes. When two words have a high degree of attributional similarity, we call them synonyms. When two pairs of words have a high degree of relational similarity, we say that their relations are analogous. For example, the word pair mason/stone is analogous to the pair carpenter/wood; the relations between mason and stone are highly similar to the relations between carpenter and wood. Past work on semantic similarity measures has mainly been concerned with attributional similarity. For instance, Latent Semantic Analysis (LSA) can measure the degree of similarity between two words, but not between two relations. Recently the Vector Space Model (VSM) of information retrieval has been adapted to the task of measuring relational similarity, achieving a score of 47% on a collection of 374 college-level multiple-choice word analogy questions. In the VSM approach, the relation between a pair of words is characterized by a vector of frequencies of predefined patterns in a large corpus. LRA extends the VSM approach in three ways: (1) the patterns are derived automatically from the corpus (they are not predefined), (2) the Singular Value Decomposition (SVD) is used to smooth the frequency data (it is also used this way in LSA), and (3) automatically generated synonyms are used to explore reformulations of the word pairs. LRA achieves 56% on the 374 analogy questions, statistically equivalent to the average human score of 57%. On the related problem of classifying noun-modifier relations, LRA achieves similar gains over the VSM, while using a smaller corpus

Similarity of Semantic Relations

There are at least two kinds of similarity. Relational similarity is correspondence between relations, in contrast with attributional similarity, which is correspondence between attributes. When two words have a high degree of attributional similarity, we call them synonyms. When two pairs of words have a high degree of relational similarity, we say that their relations are analogous. For example, the word pair mason:stone is analogous to the pair carpenter:wood. This paper introduces Latent Relational Analysis (LRA), a method for measuring relational similarity. LRA has potential applications in many areas, including information extraction, word sense disambiguation, and information retrieval. Recently the Vector Space Model (VSM) of information retrieval has been adapted to measuring relational similarity, achieving a score of 47% on a collection of 374 college-level multiple-choice word analogy questions. In the VSM approach, the relation between a pair of words is characterized by a vector of frequencies of predefined patterns in a large corpus. LRA extends the VSM approach in three ways: (1) the patterns are derived automatically from the corpus, (2) the Singular Value Decomposition (SVD) is used to smooth the frequency data, and (3) automatically generated synonyms are used to explore variations of the word pairs. LRA achieves 56% on the 374 analogy questions, statistically equivalent to the average human score of 57%. On the related problem of classifying semantic relations, LRA achieves similar gains over the VSM