Consensus CPHD filter for distributed multitarget tracking
Citation
Battistelli, G. and Chisci, L. and Fantacci, C. and Farina, A. and Graziano, A. 2013. Consensus CPHD filter for distributed multitarget tracking. IEEE Journal on Selected Topics in Signal Processing. 7 (3): pp. 508-520.
Source Title
IEEE Journal on Selected Topics in Signal Processing
ISSN
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Abstract
The paper addresses distributed multitarget tracking over a network of heterogeneous and geographically dispersed nodes with sensing, communication and processing capabilities. The contribution has been to develop a novel consensus Gaussian Mixture-Cardinalized Probability Hypothesis Density (GM-CPHD) filter that provides a fully distributed, scalable and computationally efficient solution to the problem. The effectiveness of the proposed approach is demonstrated via simulation experiments on realistic scenarios.