Name
Title | ||
|---|---|---|
Evolutionary optimization of dynamics models in sequential Monte Carlo target tracking |
Abstract | ||
|---|---|---|
This paper describes a new method for the online parameter optimization of various models used to represent the target dynamics in particle filters. The optimization is performed with an evolutionary strategy algorithm, by using the performance of the particle filter as a basis for the objective function. Two different approaches to forming the objective function are presented: the first assumes knowledge of the true source position during the optimization, and the second uses the position estimates from the particle filter to form an estimate of the current ground-truth data. The new algorithm has low computational complexity and is suitable for real-time implementation. A simple and intuitive real-world application of acoustic source localization and tracking is used to highlight the performance of the algorithm. Results show that the algorithm converges to an optimum tracker for any type of dynamics model that is capable of representing the target dynamics. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/TEVC.2009.2017518 | IEEE Trans. Evolutionary Computation |
Keywords | Field | DocType |
covariance matrix adaptation,algorithm converges,evolutionary optimization,target dynamic,evolutionary strategy algorithm,index terms—evolutionary strategy,objective function,new algorithm,dynamics model,online parameter optimization,sequential monte carlo target,target tracking,new method,particle filter,dual estimation.,acoustic source localization,ground truth,evolutionary computation,optimization,indexing terms,convergence,noise,probability density function,indexes,monte carlo methods,sequential monte carlo,computational complexity,evolutionary strategy | Mathematical optimization,Monte Carlo method,Evolutionary algorithm,Particle filter,Meta-optimization,Evolutionary computation,Evolution strategy,CMA-ES,Monte Carlo localization,Mathematics | Journal |
Volume | Issue | ISSN |
13 | 4 | 1089-778X |
Citations | PageRank | References |
4 | 0.45 | 24 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Anders M. Johansson | 1 | 76 | 5.05 |
| Eric A. Lehmann | 2 | 227 | 16.39 |