An improved CPHD filter for unknown clutter backgrounds
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The “clutter-agnostic” CPHD filter was introduced at the 2010 SPIE Defense, Security and Sensing Symposium in 2010, and has been investigated in subsequent papers. This “k-CPHD filter” was capable of multitarget detection and tracking in unknown, dynamically changing clutter backgrounds. It was also capable of estimating the entire intensity function of the clutter process. The purpose of this paper is to introduce a generalization of this filter. The generalized k-CPHD filter has the following two major improvements: (1) a formula for the probability distribution on the number of targets (target cardinality distribution); and (2) a formula for the probability distribution of the number of clutter measurements (clutter cardinality distribution). More generally, the entire probability distribution of the clutter process can be estimated.
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Mahler, R.; Vo, Ba Tuong; Vo, Ba-Ngu (2011)In Bayesian multi-target filtering, we have to contend with two notable sources of uncertainty, clutter and detection. Knowledge of parameters such as clutter rate and detection profile are of critical importance in ...
Beard, M.; Reuter, S.; Granström, K.; Vo, Ba-Ngu; Vo, Ba Tuong; Scheel, A. (2015)This paper addresses extended multi-target tracking in clutter, i.e. tracking targets that may produce more than one measurement on each scan. We propose a new algorithm for solving this problem, that is capable of ...
Beard, M.; Reuter, S.; Granström, K.; Vo, Ba-Ngu; Vo, Ba Tuong; Scheel, A. (2016)Targets that generate multiple measurements at a given instant in time are commonly known as extended targets. These present a challenge for many tracking algorithms, as they violate one of the key assumptions of the ...