Joint Probabilistic Data Association Filter with Unknown Detection Probability and Clutter Rate

被引：30

作者：

He, Shaoming ^{[1
]}

Shin, Hyo-Sang ^{[1
]}

Tsourdos, Antonios ^{[1
]}

机构：

[1] Cranfield Univ, Sch Aerosp Transport & Mfg, Cranfield MK43 0AL, Beds, England

来源：

SENSORS | 2018年 / 18卷 / 01期

关键词：

multiple target tracking; joint probabilistic data association; multi-Bernoulli filter; unknown detection probability; unknown clutter rate; MULTI-BERNOULLI FILTER; DENSITY-ESTIMATION; TRACKING; ALGORITHM; TARGETS;

D O I：

10.3390/s18010269

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

This paper proposes a novel joint probabilistic data association (JPDA) filter for joint target tracking and track maintenance under unknown detection probability and clutter rate. The proposed algorithm consists of two main parts: (1) the standard JPDA filter with a Poisson point process birth model for multi-object state estimation; and (2) a multi-Bernoulli filter for detection probability and clutter rate estimation. The performance of the proposed JPDA filter is evaluated through empirical tests. The results of the empirical tests show that the proposed JPDA filter has comparable performance with ideal JPDA that is assumed to have perfect knowledge of detection probability and clutter rate. Therefore, the algorithm developed is practical and could be implemented in a wide range of applications.

引用

页数：14

共 31 条

[11] Multiple Hypothesis Tracking Revisited [J].

Kim, Chanho ;

Li, Fuxin ;

Ciptadi, Arridhana ;

Rehg, James M. .

2015 IEEE INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV), 2015, :4696-4704

[12]

Kim WC, 2015, 2015 18TH INTERNATIONAL CONFERENCE ON INFORMATION FUSION (FUSION), P1772

[13] Markov Chain Realization of Joint Integrated Probabilistic Data Association [J].

Lee, Eui Hyuk ;

Zhang, Qian ;

Song, Taek Lyul .

SENSORS, 2017, 17 (12)

[14] Integrated real-time estimation of clutter density for tracking [J].

Li, XR ;

Li, N .

IEEE TRANSACTIONS ON SIGNAL PROCESSING, 2000, 48 (10) :2797-2805

[15] CPHD Filtering With Unknown Clutter Rate and Detection Profile [J].

Mahler, Ronald P. S. ;

Ba-Tuong Vo ;

Ba-Ngu Vo .

IEEE TRANSACTIONS ON SIGNAL PROCESSING, 2011, 59 (08) :3497-3513

[16]

Mahler Ronald P. S., 2007, Statistical Multisource-Multitarget Information Fusion

[17] Joint integrated probabilistic data association: JIPDA [J].

Musicki, D ;

Evans, R .

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2004, 40 (03) :1093-1099

[18] Improved multi-target multi-Bernoulli filter [J].

Ouyang, C. ;

Ji, H. ;

Li, C. .

IET RADAR SONAR AND NAVIGATION, 2012, 6 (06) :458-464

[19] You Only Look Once: Unified, Real-Time Object Detection [J].

Redmon, Joseph ;

Divvala, Santosh ;

Girshick, Ross ;

Farhadi, Ali .

2016 IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR), 2016, :779-788

[20] ALGORITHM FOR TRACKING MULTIPLE TARGETS [J].

REID, DB .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1979, 24 (06) :843-854

← 1 2 3 4 →