Gaussian mixture PHD and CPHD filtering with partially uniform target birth
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The standard Gaussian Mixture Probability Hypothesis Density (GMPHD) filter and Cardinalised Probability Hypothesis Density (GMCPHD) filter require the target birth model to take the form of a Gaussian mixture. Although any density (including a uniform density), can be approximated using a sum of Gaussians, this can be inefficient in practice, especially when a large number of Gaussians is required to achieve the desired accuracy. A better alternative in the case of an uninformative birth model would be to directly use a uniform density instead of a Gaussian mixture approximation. In this paper we present new forms of the GMPHD and GMCPHD filtering equations, which allow part of the target birth model to take on a uniform distribution, thus obviating the need to use large Gaussian mixtures to approximate a uniform birth density.
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Ma, L.; Wang, P.; Xue, K.; Kim, Du Yong (2014)© 2014 IEEE. Recently, the Gaussian Mixture Probability Hypothesis Density (GMPHD) filter has been studied as a popular method for multi-target tracking in clutter background. As an extended version, robust GMPHD filter, ...
Beard, Michael; Vo, Ba; Vo, Ba-Ngu; Arulampalam, S. (2013)The conventional GMPHD/CPHD filters require the PHD for target births to be a Gaussian mixture (GM), which is potentially inefficient because careful selection of the mixture parameters may be required to ensure good ...
Beard, Michael; Arulampalam, S. (2012)The performance of three multi-target tracking algorithms are compared under the challenging problem of bearings-only tracking in the presence of clutter and missed detections. The algorithms under consideration are the ...