Labeled Random Finite Sets and the Bayes Multi-Target Tracking Filter

DOI10.1109/TSP.2014.2364014MaRDI QIDQ4579640zbMATH OpenOpenAlexFDO

Authors Ba-Ngu Vo, Ba Tuong Vo, Dinh Phung

Publication date 22 August 2018

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

Full work available at URL https://arxiv.org/abs/1312.2372

Mathematics Subject Classification ID

Signal theory (characterization, reconstruction, filtering, etc.) (94A12) Detection theory in information and communication theory (94A13)

Abstract: We present an efficient numerical implementation of the $delta$-Generalized Labeled Multi-Bernoulli multi-target tracking filter. Each iteration of this filter involves an update operation and a prediction operation, both of which result in weighted sums of multi-target exponentials with intractably large number of terms. To truncate these sums, the ranked assignment and K-th shortest path algorithms are used in the update and prediction, respectively, to determine the most significant terms without exhaustively computing all of the terms. In addition, using tools derived from the same framework, such as probability hypothesis density filtering, we present inexpensive look-ahead strategies to reduce the number of computations. Characterization of the $L_1$-error in the multi-target density arising from the truncation is presented.

Cited in

(12)

• Multi-target PHD tracking and classification using imprecise likelihoods
• Tracking in the multi-target environment. Multiple-hypotheses method in information-set filtration
• Efficient approximation of the labeled multi-Bernoulli filter for online multitarget tracking
• Multi-target identity management for unknown and time-varying number of targets in clutter
• Uncertainty modelling and computational aspects of data association
• Multi-target identity management with decentralized optimal sensor scheduling
• Multiple Object Tracking in Unknown Backgrounds With Labeled Random Finite Sets
• A linear multisensor PHD filters via the measurement product space
• scientific article; zbMATH DE number 6873791 (Why is no real title available?)
• Robust Kalman filters under epistemic uncertainty for non-Gaussian systems with multiplicative noise
• The multiple pairwise Markov chain model-based labeled multi-Bernoulli filter
• Hardware architecture and optimisation of FPP particle PHD filter for multi-target tracking in cyber-physical systems

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