Multitarget tracking with multiscan knowledge exploitation using sequential MCMC sampling
MetadataShow full item record
Exploitation of external knowledge through constrained filtering guarantees improved performance. In this paper we show how multiscan processing of such information further enhances the track accuracy. This can be achieved using a Fixed-Lag Smoothing procedure, and a proof of improvement is given in terms of entropy reduction. Such multiscan algorithm, i.e., named KB-Smoother ('Fixed-lag smoothing for Bayes optimal exploitation of external knowledge,' F. Papi , Proc. 15th Int. Conf. Inf. Fusion, 2012) can be implemented by means of a SIR-PF. In practice, the SIR-PF suffers from depletion problems, which are further amplified by the Smoothing technique. Sequential MCMC methods represent an efficient alternative to the standard SIR-PF approach. Furthermore, by borrowing techniques from genetic algorithms, a fully parallelizable multitarget tracker can be defined. Such approach, i.e., named Interacting Population (IP)-MCMC-PF, was first introduced in 'Multitarget tracking with interacting population-based MCMC-PF' (M Bocquel , Proc. 15th Int. Conf. Inf. Fusion, 2012). In this paper, we propose and analyze a combination of the KB-Smoother along with the IP-MCMC-PF. As will be shown, the combination of the two methods yields an improved track accuracy while mitigating the loss of particles diversity. Simulation analyses for single and multitarget tracking scenarios confirm the benefits of the proposed approach. © 2007-2012 IEEE.
Showing items related by title, author, creator and subject.
García-Fernández, A.; Vo, Ba-Ngu; Vo, Ba Tuong (2014)The objective of this paper is to approximate the unlabelled posterior random finite set (RFS) density in multitarget tracking (MTT) using particle filters (PFs). The unlabelled posterior can be equivalently represented ...
Mallick, M.; Rubin, S.; Vo, Ba-Ngu (2013)Space object (satellite or space-debris) tracking (SOT) has not received much attention in the Information Fusion community, although the first Fusion conference was held in 1998. A special session on SOT was organized ...
Mahler, Ronald (2013)This tutorial paper summarizes the motivations, concepts and techniques of finite-set statistics (FISST), a system-level, 'top-down,' direct generalization of ordinary single-sensor, single-target engineering statistics ...