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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…
5G millimeter wave (mmWave) signals have inherent geometric connections to the propagation channel and the propagation environment. Thus, they can be used to jointly localize the receiver and map the propagation environment, which is termed…
Tracking multiple particles in noisy and cluttered scenes remains challenging due to a combinatorial explosion of trajectory hypotheses, which scales super-exponentially with the number of particles and frames. The transformer architecture…
In recent work (arXiv:1006.3100v1), we have presented a novel approach for improving particle filters for multi-target tracking. The suggested approach was based on drift homotopy for stochastic differential equations. Drift homotopy was…
This paper presents a multitarget tracking particle filter (PF) for general track-before-detect measurement models. The PF is presented in the random finite set framework and uses a labelled multi-Bernoulli approximation. We also present a…
Accurately tracking and predicting behaviors of surrounding objects are key prerequisites for intelligent systems such as autonomous vehicles to achieve safe and high-quality decision making and motion planning. However, there still remain…
Multi-target tracking is an important problem in civilian and military applications. This paper investigates multi-target tracking in distributed sensor networks. Data association, which arises particularly in multi-object scenarios, can be…
A Bernoulli Mixture Model (BMM) is a finite mixture of random binary vectors with independent dimensions. The problem of clustering BMM data arises in a variety of real-world applications, ranging from population genetics to activity…
We present a modelling framework for multi-target tracking based on possibility theory and illustrate its ability to account for the general lack of knowledge that the target-tracking practitioner must deal with when working with real data.…
The amplitude information of target returns has been incorporated into many tracking algorithms for performance improvements. One of the limitations of employing amplitude feature is that the signal-to-noise ratio (SNR) of the target, i.e.,…
In recent years, Bayes filter methods in the labeled random finite set formulation have become increasingly powerful in the multi-target tracking domain. One of the latest outcomes is the Generalized Labeled Multi-Bernoulli (GLMB) filter…
Despite their theoretical advantages, track-before-detect (TBD) methods remain largely absent from real-world multi-target tracking applications due to their computational complexity and limited scalability. This paper presents a scalable…
We present a novel approach for improving particle filters for multi-target tracking. The suggested approach is based on drift homotopy for stochastic differential equations. Drift homotopy is used to design a Markov Chain Monte Carlo step…
The generalized labeled multi-Bernoulli (GLMB) filter is a theoretically rigorous Bayes-optimal multitarget tracking algorithm with computationally tractable implementations, based on labeled random finite set (LRFS) theory. It presumes…
Tracking multiple objects through time is an important part of an intelligent transportation system. Random finite set (RFS)-based filters are one of the emerging techniques for tracking multiple objects. In multi-object tracking (MOT), a…
In this thesis, branching Brownian motion (BBM) is a random particle system where the particles diffuse on the real line according to Brownian motions and branch at constant rate into a random number of particles with expectation greater…
In multi-object tracking applications, model parameter tuning is a prerequisite for reliable performance. In particular, it is difficult to know statistics of false measurements due to various sensing conditions and changes in the field of…
The class of Labeled Random Finite Set filters known as the delta-Generalized Labeled Multi-Bernoulli (dGLMB) filter represents the filtering density as a set of weighted hypotheses, with each hypothesis consisting of a set of labeled…
The multi-target Bayes filter proposed by Mahler is a principled solution to recursive Bayesian tracking based on RFS or FISST. The $\delta$-GLMB filter is an exact closed form solution to the multi-target Bayes recursion which yields joint…
Generalized Labeled Multi-Bernoulli (GLMB) densities arise in a host of multi-object system applications analogous to Gaussians in single-object filtering. However, computing the GLMB filtering density requires solving NP-hard problems. To…