A Multisensor Multi-Bernoulli Filter

DOI10.1109/TSP.2017.2723348MaRDI QIDQ4628108zbMATH OpenFDO

Authors Augustin-Alexandru Saucan, Mark J. Coates, Michael G. Rabbat

Publication date 6 March 2019

Published in IEEE Transactions on Signal Processing (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1609.05108

Mathematics Subject Classification ID

Signal theory (characterization, reconstruction, filtering, etc.) (94A12)

Abstract: In this paper we derive a multi-sensor multi-Bernoulli (MS-MeMBer) filter for multi-target tracking. Measurements from multiple sensors are employed by the proposed filter to update a set of tracks modeled as a multi-Bernoulli random finite set. An exact implementation of the MS-MeMBer update procedure is computationally intractable. We propose an efficient approximate implementation by using a greedy measurement partitioning mechanism. The proposed filter allows for Gaussian mixture or particle filter implementations. Numerical simulations conducted for both linear-Gaussian and non-linear models highlight the improved accuracy of the MS-MeMBer filter and its reduced computational load with respect to the multi-sensor cardinalized probability hypothesis density filter and the iterated-corrector cardinality-balanced multi-Bernoulli filter especially for low probabilities of detection.

Cited in

(4)

• Measurement-driven multi-target multi-Bernoulli filter
• The Cardinality Balanced Multi-Target Multi-Bernoulli Filter and Its Implementations
• A Tutorial on Bernoulli Filters: Theory, Implementation and Applications
• Decentralized fused-learner architectures for Bayesian reinforcement learning

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