RTS Smoother for GLMB filter
Access Status
Open access
Authors
Nguyen, Tran Thien Dat
Yu, J.
Date
2019Type
Conference Paper
Metadata
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Nguyen, T.T.D. and Yu, J. 2019. RTS Smoother for GLMB filter. In 2019 International Conference on Control, Automation and Information Sciences (ICCAIS), Chengdu, China.
Source Title
ICCAIS 2019 - 8th International Conference on Control, Automation and Information Sciences
ISBN
Faculty
Faculty of Science and Engineering
School
School of Elec Eng, Comp and Math Sci (EECMS)
Funding and Sponsorship
Collection
Abstract
In this paper, we implement a low-cost but effective smoothing strategy to smooth estimated tracks returned by the GLMB filter. While the forward filtering step is carried out via the GLMB filtering procedure, the backward smoothing step is recursively implemented from the final time step to the first time step via a smoothing algorithm. In particular, the smoothing algorithm is based on the Rauch-Tung-Striebel (RTS) of fixed-interval smoother. We demonstrate our smoothing strategy on a linear Gaussian model and the experimental results show consistent improved tracking performance over 100 Monte Carlo runs.