Generalized Labeled Multi-Bernoulli Approximation of Multi-Object Densities
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Publication:4580864
DOI10.1109/TSP.2015.2454478zbMATH Open1394.94442arXiv1412.5294OpenAlexW1745301770MaRDI QIDQ4580864FDOQ4580864
Authors: Francesco Papi, Ba-Ngu Vo, Ba Tuong Vo, Claudio Fantacci, Michael Beard 
Publication date: 22 August 2018
Published in: IEEE Transactions on Signal Processing (Search for Journal in Brave)
Abstract: In multi-object inference, the multi-object probability density captures the uncertainty in the number and the states of the objects as well as the statistical dependence between the objects. Exact computation of the multi-object density is generally intractable and tractable implementations usually require statistical independence assumptions between objects. In this paper we propose a tractable multi-object density approximation that can capture statistical dependence between objects. In particular, we derive a tractable Generalized Labeled Multi-Bernoulli (GLMB) density that matches the cardinality distribution and the first moment of the labeled multi-object distribution of interest. It is also shown that the proposed approximation minimizes the Kullback-Leibler divergence over a special tractable class of GLMB densities. Based on the proposed GLMB approximation we further demonstrate a tractable multi-object tracking algorithm for generic measurement models. Simulation results for a multi-object Track-Before-Detect example using radar measurements in low signal-to-noise ratio (SNR) scenarios verify the applicability of the proposed approach.
Full work available at URL: https://arxiv.org/abs/1412.5294
Cited In (3)
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