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Consensus CPHD filter for distributed multitarget tracking

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Authors
Battistelli, G.
Chisci, L.
Fantacci, Claudio
Farina, A.
Graziano, A.
Date
2013
Type
Journal Article

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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.
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IEEE Journal on Selected Topics in Signal Processing
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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.