Related papers: Multi-Scan Implementation of the Trajectory Poisso…
This paper proposes a computationally efficient algorithm for distributed fusion in a sensor network in which multi-Bernoulli (MB) filters are locally running in every sensor node for multi-target tracking. The generalized Covariance…
This paper proposes an efficient implementation of the generalized labeled multi-Bernoulli (GLMB) filter by combining the prediction and update into a single step. In contrast to an earlier implementation that involves separate truncations…
Multi-target state estimation refers to estimating the number of targets and their trajectories in a surveillance area using measurements contaminated with noise and clutter. In the Bayesian paradigm, the most common approach to…
We propose a solution of the multiple target tracking (MTT) problem based on sets of trajectories and the random finite set framework. A full Bayesian approach to MTT should characterise the distribution of the trajectories given the…
A large-scale multi-object tracker based on the generalised labeled multi-Bernoulli (GLMB) filter is proposed. The algorithm is capable of tracking a very large, unknown and time-varying number of objects simultaneously, in the presence of…
This paper proposes a smooth-trajectory estimator for the labelled multi-Bernoulli (LMB) filter by exploiting the special structure of the generalised labelled multi-Bernoulli (GLMB) filter. We devise a simple and intuitive approach to…
This letter presents a versatile trajectory planning pipeline for aerial tracking. The proposed tracker is capable of handling various chasing settings such as complex unstructured environments, crowded dynamic obstacles and multiple-target…
This paper provides a scalable, multi-sensor measurement adaptive track initiation technique for labeled random finite set filters. A naive construction of the multi-sensor measurement adaptive birth set distribution leads to an exponential…
The paper addresses distributed multi-target tracking in the framework of generalized Covariance Intersection (GCI) over multistatic radar system. The proposed method is based on the unlabeled version of generalized labeled multi-Bernoulli…
This paper proposes the Trajectory-Information Exchange Multi-Bernoulli (T-IEMB) filter to estimate sets of alive and all trajectories in track-before-detect applications with generalised superpositional measurements. This measurement model…
To account for joint tracking and classification (JTC) of multiple targets from observation sets in presence of detection uncertainty, noise and clutter, this paper develops a new trajectory probability hypothesis density (TPHD) filter,…
This paper addresses the mapping problem. Using a conjugate prior form, we derive the exact theoretical batch multi-object posterior density of the map given a set of measurements. The landmarks in the map are modeled as extended objects,…
In multi-object stochastic systems, the issue of sensor management is a theoretically and computationally challenging problem. In this paper, we present a novel random finite set (RFS) approach to the multi-target sensor management problem…
We present an efficient numerical implementation of the $\delta$-Generalized Labeled Multi-Bernoulli multi-target tracking filter. Each iteration of this filter involves an update operation and a prediction operation, both of which result…
Multi-object tracking (MOT) is among crucial applications in modern advanced driver assistance systems (ADAS) and autonomous driving (AD) systems. The global nearest neighbor (GNN) filter, as the earliest random vector-based Bayesian…
Much recent research on multi-target tracking has focused on multi-hypothesis approaches leveraging random finite sets. Of particular interest are labeled random finite set methods that maintain temporally coherent labels for each object.…
This paper proposes a new multi-Bernoulli filter called the Adaptive Labeled Multi-Bernoulli filter. It combines the relative strengths of the known Delta-Generalized Labeled Multi-Bernoulli and the Labeled Multi-Bernoulli filter. The…
This paper proposes an efficient implementation of the generalized labeled multi-Bernoulli (GLMB) filter by combining the prediction and update into a single step. In contrast to the original approach which involves separate truncations in…
A new Bayesian state and parameter learning algorithm for multiple target tracking (MTT) models with image observations is proposed. Specifically, a Markov chain Monte Carlo algorithm is designed to sample from the posterior distribution of…
Passive multi-target tracking applications require the integration of multiple spatially distributed sensor measurements to distinguish true tracks from ghost tracks. A popular multi-target tracking approach for these applications is the…