Consensus Labeled Random Finite Set Filtering for Distributed Multi-Object Tracking
Abstract
This paper addresses distributed multi-object tracking over a network of heterogeneous and geographically dispersed nodes with sensing, communication and processing capabilities. The main contribution is an approach to distributed multi-object estimation based on labeled Random Finite Sets (RFSs) and dynamic Bayesian inference, which enables the development of two novel consensus tracking filters, namely a Consensus Marginalized -Generalized Labeled Multi-Bernoulli and Consensus Labeled Multi-Bernoulli tracking filter. The proposed algorithms provide fully distributed, scalable and computationally efficient solutions for multi-object tracking. Simulation experiments via Gaussian mixture implementations confirm the effectiveness of the proposed approach on challenging scenarios.
Cite
@article{arxiv.1501.01579,
title = {Consensus Labeled Random Finite Set Filtering for Distributed Multi-Object Tracking},
author = {C. Fantacci and B. -N. Vo and B. -T. Vo and G. Battistelli and L. Chisci},
journal= {arXiv preprint arXiv:1501.01579},
year = {2016}
}