Gaussian-sum-based probability hypothesis density filtering with delayed and out-of-sequence measurements
2010 (English)In: 18th Mediterranean Conference on Control and Automation, MED'10 - Conference Proceedings, 2010, 1423-1428 p.Conference paper (Refereed)
The problem of multiple-sensor-based multipleobject tracking is studied for adverse environments involving clutter (false positives), missing measurements (false negatives) and random target births and deaths (a priori unknown target numbers). Various (potentially spatially separated) sensors are assumed to generate signals which are sent to the estimator via parallel channels which incur independent delays. These signals may arrive out of order, be corrupted or even lost. In addition, there may be periods when the estimator receives no information. A closed-form, recursive solution to the considered problem is detailed that generalizes the Gaussian-mixture probability hypothesis density (GM-PHD) filter previously detailed in the literature. This generalization allows the GM-PHD framework to be applied in more realistic network scenarios involving not only transmission delays but rather more general irregular measurement sequences where particular measurements from some sensors can arrive out of order with respect to the generating sensor and also with respect to the signals generated by the other sensors in the network.
Place, publisher, year, edition, pages
2010. 1423-1428 p.
Adverse environment, Closed form, False negatives, False positive, Gaussians, Independent delays, Missing measurements, Network scenario, Out of order, Out of sequence measurements, Parallel channel, Probability hypothesis density, Random targets, Transmission delays, Sensors
Other Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-149586DOI: 10.1109/MED.2010.5547850ISI: 000324864700229ScopusID: 2-s2.0-77957005269ISBN: 978-142448092-0OAI: oai:DiVA.org:kth-149586DiVA: diva2:740675
18th Mediterranean Conference on Control and Automation, MED'10, 23 June 2010 through 25 June 2010, Marrakech, Morocco
QC 201408262014-08-262014-08-252014-08-26Bibliographically approved