Qingdong Huang
ABSTRACT
Aiming at the instability and low accuracy of Generalized Motion Simultaneous Localization and Mapping (GEM-SLAM), a closed iterative update dynamic tracking and location algorithm based on Generalized Labeled Multi-Bernoulli (GLMB) filter is proposed. It consists of two closed iteration modules, which are established to realize the closed-form optimal solutions of sensor node motion correction and multi-target tracking and positioning respectively. The sensor node upon correction can provide more accurate targets measurement, and multi-target tracking and positioning module can obtain stable and accurate results by using this measurement. Experimental simulation verifies the algorithm of this paper, which reflects the excellent characteristics of our algorithm.
- Peng Huafu, Huang Gaoming, and Tian Wei. 2019. Random finite set: Theory, application and implementation for multitarget tracking.J. Control and Decision 34, 02 (February 2019), 225-232. https://doi.org/ 10.13195/j.kzyjc.2017.1326Google Scholar
Cross Ref
- Ronald Mahler. 2014. Advances in Statistical Multisource-Multitarget Information Fusion, Artech.Google Scholar
- Da, K., Li, T., Zhu, Y. 2021. Recent advances in multisensor multitarget tracking using random finite set. J. Frontiers of Information Technology & Electronic Engineering 22(June 2021), 5–24. https://doi.org/10.1631/FITEE.2000266Google ScholarCross Ref
- Sanaga Rohith Reddy,Frueh Carolin. 2021. Probability Hypothesis Density Filter with Uncertainty in the Probability of Detection. J. Advances in Space Research 67, 5 (March 2021), 1437-1453. https://doi.org/10.1016/j.asr.2020.11.035Google ScholarCross Ref
- Chenming Li , Wenguang Wang , Thia Kirubarajan, Jinping Sun and Peng Lei. 2018. PHD and CPHD filtering with unknown detection probability. J. IEEE Transactions on Signal Processing 66, 14 (July 2018), 3784-3798. https://doi.org/10.1109/TSP.2018.2835398Google ScholarDigital Library
- Ronald P. S. Mahler. 2017. Advances in statistical multisource-multitarget information fusion. National Defense Industry Press. Beijing, ChinaGoogle Scholar
- B. -N. Vo, B. -T. Vo, D. Phung, 2014. Labeled Random Finite Sets and the Bayes Multi-Target Tracking Filter. J. IEEE Transactions on Signal Processing 62, 24 (December 2014), 6554-6567. https://doi.org/10.1109/TSP.2014.2364014Google ScholarCross Ref
- B. Vo and B. Vo. 2013. Labeled Random Finite Sets and Multi-Object Conjugate Priors. J. IEEE Transactions on Signal Processing 61, 13 (July 2013), 3460-3475. https://doi.org/ 10.1109/TSP.2013.2259822Google ScholarCross Ref
- G Cerati,P Elmer,S Krutelyov, 2017 Kalman filter tracking on parallel architectures. J Journal of Physics: Conference Series. 898, 4 (November 2017). https://doi.org/10.1088/1742-6596/898/4/042051Google ScholarCross Ref
- YU L, LIU Y C, LIN D. 2020. A probabilistic search decision- making framework based on Bayesian method. J. Electronics Optics & Control. 27, 9 (December 2020), 50- 54. https://doi.org/10.1088/1742-6596/898/4/04205110.3969/j.issn.1671−637X.2020.09.010Google ScholarCross Ref
- C. Evers and P. A. Naylor. 2018. Optimized Self-Localization for SLAM in Dynamic Scenes Using Probability Hypothesis Density Filters. J. IEEE Transactions on Signal Processing, 66, 4 (February 2018), 863-878. https://doi.org/10.1109/TSP.2017.2775590Google ScholarDigital Library
- J. Traa and P. Smaragdis. 2013. A wrapped Kalman filter for azimuthal speaker tracking. J. IEEE Signal Process. Lett, 20, 12 (December 2013), 1257-1260. https://doi.org/ 10.1109/LSP.2013.2287125Google ScholarCross Ref
- L. Martino, V. Elvira, J. Mίguez, 2018. A Comparison Of Clipping Strategies For Importance Sampling. 2018 IEEE Statistical Signal Processing Workshop, Freiburg im Breisgau, Germany, 558-562. https://doi.org/10.1109/SSP.2018.8450722Google ScholarCross Ref
- P. Yuvapoositanon. 2019. An Unscented Rao-Blackwellised Particle Filter for Prognostics and Remaining Useful Life Estimation of Battery. 2019 7th International Electrical Engineering Congress, Hua Hin, Thailand. https://doi.org/0.1109/ieecon45304.2019.8938839Google Scholar
- Tuyet Vu. 2020. A Complete Optimal Subpattern Assignment (COSPA) Metric. IEEE 23rd International Conference on Information Fusion (FUSION). IEEE, Rustenburg, South Africa, 1-8. https://doi.org/10.23919/FUSION45008.2020.9190582Google ScholarCross Ref
Index Terms
- Closed Iterative Correction Algorithm for Multi-target Dynamic Tracking and Positioning
Recommendations
Improved generalized labeled multi-Bernoulli filter for non-ellipsoidal extended targets or group targets tracking based on random sub-matrices
AbstractFor non-ellipsoidal extended targets and group targets tracking, using an ellipsoid to approximate the target extension may not be accurate enough because of lacking shape and orientation information. In consideration of this, we model ...
Flocking algorithm with multi-target tracking for multi-agent systems
This paper investigates a flocking algorithm with multi-target tracking for multi-agent systems. It is supposed that every target can accept a certain number of agents. Which target is chosen by an agent is determined by the distances from the agent to ...
Outdoor Target Tracking and Positioning Based on Fisheye Lens
AICI '09: Proceedings of the 2009 International Conference on Artificial Intelligence and Computational Intelligence - Volume 03Omni-directional vision (omni vision) has been used in many fields because of its advantage of extremely wide view; one way to establish omni vision system is using fisheye lens. Target recognition and tracking is a tough task in computer vision, which ...
Comments