Name
Abstract | ||
|---|---|---|
In multiple target tracking (MTT) it becomes necessary to use a multihypothesis approach if the trajectories of two or more targets cross. However, multihypothesis approaches, e.g., the multiple hypothesis tracker (MHT) or the emerging generalized labelled multi-Bernoulli (GLMB) filter, are computationally demanding. In this paper, we propose a simple multi-Bernoulli (MB) filter and a post processing method, which together deliver a multihypothesis tracking estimate at a computational cost that is only slightly larger than the cost of a single-hypothesis tracking filter even for many targets. The proposed MB filter is shown to be similar to the labeled MB filter, itself an approximation of the multihypothesis GLMB filter. In a simulation study with multiple targets and several trajectory crossings, the proposed filter is shown to be capable of correctly estimating the multihypothesis output. The filter is also tasked with presenting to an operator a principled perspective on a scene with many feasible track switches. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/TSP.2015.2500884 | IEEE Trans. Signal Processing |
Keywords | Field | DocType |
filtering theory,target tracking,MB filter,MTT,computational cost estimation,generalized labelled multiBernoulli filter,multiBernoulli filter,multihypothesis GLMB filter approximation,multihypothesis multiBernoulli multiobject filtering approximation,multihypothesis tracking,multiple target tracking,post processing method,Bernoulli filter,PHD,RFS,Target tracking,finite sets,probability hypothesis density | Probability hypothesis density filter,Computer vision,Finite set,Multiple hypothesis tracker,Control theory,Filter (signal processing),Operator (computer programming),Artificial intelligence,Trajectory,Mathematics,Bernoulli's principle | Journal |
Volume | Issue | ISSN |
64 | 7 | 1053-587X |
Citations | PageRank | References |
1 | 0.36 | 10 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Karl Granström | 1 | 356 | 24.53 |
| Peter Willett | 2 | 1962 | 224.14 |
| Yaakov Bar-Shalom | 3 | 460 | 99.56 |