Multiple Model Poisson Multi-Bernoulli Mixture Filter for Maneuvering Targets

The Poisson multi-Bernoulli mixture (PMBM) filter is conjugate prior composed of the union of a Poisson point process (PPP) and a multi-Bernoulli mixture (MBM). In this paper, a new PMBM filter for tracking multiple targets with randomly time-varying dynamics under multiple model (MM) is considered. The proposed MM-PMBM filter uses extends the single-model PMBM filter recursion to multiple motion models by using the jump Markov system (JMS). The performance of the proposed algorithm is examined and compared with the MM-MB filter. The simulation results demonstrate that the proposed MM-PMBM filter outperforms the MM-MB filter in terms of the tracking accuracy, including the target states and cardinality, especially for the scenerio with low detection probability. Moreover, the comparisons for the variations of detection probability and standard derivation of measurement noise are also tested via simulation experiments.Comment: 10 pages, 3 figure

A Scalable Algorithm for Tracking an Unknown Number of Targets Using Multiple Sensors

We propose a method for tracking an unknown number of targets based on measurements provided by multiple sensors. Our method achieves low computational complexity and excellent scalability by running belief propagation on a suitably devised factor graph. A redundant formulation of data association uncertainty and the use of "augmented target states" including binary target indicators make it possible to exploit statistical independencies for a drastic reduction of complexity. An increase in the number of targets, sensors, or measurements leads to additional variable nodes in the factor graph but not to higher dimensions of the messages. As a consequence, the complexity of our method scales only quadratically in the number of targets, linearly in the number of sensors, and linearly in the number of measurements per sensors. The performance of the method compares well with that of previously proposed methods, including methods with a less favorable scaling behavior. In particular, our method can outperform multisensor versions of the probability hypothesis density (PHD) filter, the cardinalized PHD filter, and the multi-Bernoulli filter.Comment: 13 pages, 8 figur

Scalable Detection and Tracking of Geometric Extended Objects

Multiobject tracking provides situational awareness that enables new applications for modern convenience, public safety, and homeland security. This paper presents a factor graph formulation and a particle-based sum-product algorithm (SPA) for scalable detection and tracking of extended objects. The proposed method dynamically introduces states of newly detected objects, efficiently performs probabilistic multiple-measurement to object association, and jointly infers the geometric shapes of objects. Scalable extended object tracking (EOT) is enabled by modeling association uncertainty by measurement-oriented association variables and newly detected objects by a Poisson birth process. Contrary to conventional EOT methods, a fully particle-based approach makes it possible to describe different geometric object shapes. The proposed method can reliably detect, localize, and track a large number of closely-spaced extended objects without gating and clustering of measurements. We demonstrate significant performance advantages of our approach compared to the recently introduced Poisson multi-Bernoulli mixture filter. In particular, we consider a simulated scenarios with up to twenty closely-spaced objects and a real autonomous driving application where measurements are captured by a lidar sensor.Comment: 29 pages, 8 figures, 2 table