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

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

A Multi-Scan Labeled Random Finite Set Model for Multi-object State Estimation

State space models in which the system state is a finite set--called the multi-object state--have generated considerable interest in recent years. Smoothing for state space models provides better estimation performance than filtering by using the full posterior rather than the filtering density. In multi-object state estimation, the Bayes multi-object filtering recursion admits an analytic solution known as the Generalized Labeled Multi-Bernoulli (GLMB) filter. In this work, we extend the analytic GLMB recursion to propagate the multi-object posterior. We also propose an implementation of this so-called multi-scan GLMB posterior recursion using a similar approach to the GLMB filter implementation

Multiuser detection in a dynamic environment Part I: User identification and data detection

In random-access communication systems, the number of active users varies with time, and has considerable bearing on receiver's performance. Thus, techniques aimed at identifying not only the information transmitted, but also that number, play a central role in those systems. An example of application of these techniques can be found in multiuser detection (MUD). In typical MUD analyses, receivers are based on the assumption that the number of active users is constant and known at the receiver, and coincides with the maximum number of users entitled to access the system. This assumption is often overly pessimistic, since many users might be inactive at any given time, and detection under the assumption of a number of users larger than the real one may impair performance. The main goal of this paper is to introduce a general approach to the problem of identifying active users and estimating their parameters and data in a random-access system where users are continuously entering and leaving the system. The tool whose use we advocate is Random-Set Theory: applying this, we derive optimum receivers in an environment where the set of transmitters comprises an unknown number of elements. In addition, we can derive Bayesian-filter equations which describe the evolution with time of the a posteriori probability density of the unknown user parameters, and use this density to derive optimum detectors. In this paper we restrict ourselves to interferer identification and data detection, while in a companion paper we shall examine the more complex problem of estimating users' parameters.Comment: To be published on IEEE Transactions on Information Theor

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