A Particle Marginal Metropolis-Hastings Multi-Target Tracker
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We propose a Bayesian multi-target batch processing algorithm capable of tracking an unknown number of targets that move close and/or cross each other in a dense clutter environment. The optimal Bayes multitarget tracking problem is formulated in the random finite set framework and a particle marginal Metropolis-Hastings (PMMH) technique which is a combination of the Metropolis-Hastings (MH) algorithm and sequential Monte Carlo methods is applied to compute the multi-target posterior distribution. The PMMH technique is used to design a high-dimensional proposal distributions for the MH algorithm and allows the proposed batch process multi-target tracker to handle a large number of tracks in a computationally feasible manner. Our simulations show that the proposed tracker reliably estimates the number of tracks and their trajectories in scenarios with a large number of closely spaced tracks in a dense clutter environment albeit, more expensive than online methods.
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Ristic, B.; Vo, Ba-Ngu; Clark, D.; Vo, Ba Tuong (2011)Performance evaluation of multi-target tracking algorithms is of great practical importance in the design, parameter optimization and comparison of tracking systems. The goal of performance evaluation is to measure the ...
Vo, Ba-Ngu; Vo, Ba Tuong; Phung, D. (2014)An analytic solution to the multi-target Bayes recursion known as the δ-Generalized Labeled Multi-Bernoulli ( δ-GLMB) filter has been recently proposed by Vo and Vo in [“Labeled Random Finite Sets and Multi-Object Conjugate ...
Papi, F.; Vo, Ba Tuong; Bocquel, M.; Vo, Ba-Ngu (2013)Multi-target tracking requires the joint estimation of the number of target trajectories and their states from a sequence of observations. In low signal-to-noise ratio (SNR) scenarios, the poor detection probability and ...