Generalized Labeled Multi-Bernoulli Approximation of Multi-Object Densities

DOI10.1109/TSP.2015.2454478MaRDI QIDQ4580864zbMATH OpenOpenAlexFDO

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)

Full work available at URL https://arxiv.org/abs/1412.5294

Mathematics Subject Classification ID

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

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.

Cited in

(3)

• Void Probabilities and Cauchy–Schwarz Divergence for Generalized Labeled Multi-Bernoulli Models
• Approximate Multi-Hypothesis Multi-Bernoulli Multi-Object Filtering Made Multi-Easy
• On a representation of partially-distinguishable populations

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