Distributed Fusion With Multi-Bernoulli Filter Based on Generalized Covariance Intersection

DOI10.1109/TSP.2016.2617825zbMATH Open1414.94649arXiv1603.08340MaRDI QIDQ4620532FDOQ4620532

Authors: B. L. Wang, Wei Yi, Reza Hoseinnezhad, Suqi Li, Lingjiang Kong, Xiaobo Yang 

Publication date: 8 February 2019

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

Abstract: In this paper, we propose a distributed multi-object tracking algorithm through the use of multi-Bernoulli (MB) filter based on generalized Covariance Intersection (G-CI). Our analyses show that the G-CI fusion with two MB posterior distributions does not admit an accurate closed-form expression. To solve this challenging problem, we firstly approximate the fused posterior as the unlabeled version of $delta$-generalized labeled multi-Bernoulli ($delta$-GLMB) distribution, referred to as generalized multi-Bernoulli (GMB) distribution. Then, to allow the subsequent fusion with another multi-Bernoulli posterior distribution, e.g., fusion with a third sensor node in the sensor network, or fusion in the feedback working mode, we further approximate the fused GMB posterior distribution as an MB distribution which matches its first-order statistical moment. The proposed fusion algorithm is implemented using sequential Monte Carlo technique and its performance is highlighted by numerical results.

Full work available at URL: https://arxiv.org/abs/1603.08340

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Mathematics Subject Classification ID

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

Cited In (3)

• On Arithmetic Average Fusion and Its Application for Distributed Multi-Bernoulli Multitarget Tracking
• Chernoff fusion using observability Gramian-centric weighting
• Novel Rao-Blackwellized jump Markov CBMeMBer filter for multi-target tracking

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