Related papers: An analysis on metric-driven multi-target sensor m…
This paper is concerned with sensor management for target search and track using the generalised optimal subpattern assignment (GOSPA) metric. Utilising the GOSPA metric to predict future system performance is computationally challenging,…
This paper proposes and evaluates a new metric. This metric will overcome a limitation of the Optimal Subpattern Assignment (OSPA) metric mentioned by Schuhmacher et al.: the OSPA distance between two sets of points is insensitive to the…
In this paper, we propose a non-myopic sensor management algorithm for multi-target tracking, with multiple sensors operating in the same surveillance area. The algorithm is based on multi-Bernoulli filtering and selects the actions that…
This paper presents the generalized optimal sub-pattern assignment (GOSPA) metric on the space of finite sets of targets. Compared to the well-established optimal sub-pattern assignment (OSPA) metric, GOSPA is unnormalized as a function of…
In this paper, we show the spooky effect at a distance that arises in optimal estimation of multiple targets with the optimal sub-pattern assignment (OSPA) metric. This effect refers to the fact that if we have several independent potential…
The evaluation of multiple target tracking algorithms with labelled sets can be done using the labelled optimal subpattern assignment (LOSPA) metric. In this paper, we provide the expression of the same metric for fixed and known number of…
This paper presents a generalization of the trajectory general optimal sub-pattern assignment (GOSPA) metric for evaluating multi-object tracking algorithms that provide trajectory estimates with track-level uncertainties. This metric…
In this paper, we propose an algorithm for non-myopic sensor management for Bernoulli filtering, i.e., when there may be at most one target present in the scene. The algorithm is based on selecting the action that solves a Bellman-type…
In this paper, we propose a new metric which measures the distance between two finite sets of tracks (a track is a path of either a real or estimated target). This metric is based on the same principle as the Optimal Subpattern Assignment…
This paper introduces two quasi-metrics for performance assessment of multi-object tracking (MOT) algorithms. One quasi-metric is an extension of the generalised optimal subpattern assignment (GOSPA) metric and measures the discrepancy…
This paper proposes a metric to measure the dissimilarity between graphs that may have a different number of nodes. The proposed metric extends the generalised optimal subpattern assignment (GOSPA) metric, which is a metric for sets, to…
This paper presents a probabilistic generalization of the Generalized Optimal Sub-Pattern Assignment (GOSPA) metric, termed P-GOSPA. The GOSPA metric has been widely used to evaluate the distance between finite sets, particularly in…
In this paper, we propose a multiobjective optimization framework for the sensor selection problem in uncertain Wireless Sensor Networks (WSNs). The uncertainties of the WSNs result in a set of sensor observations with insufficient…
Multi-object tracking algorithms are deployed in various applications, each with different performance requirements. For example, track switches pose significant challenges for offline scene understanding, as they hinder the accuracy of…
We consider a search problem where a robot has one or more types of sensors, each suited to detecting different types of targets or target information. Often, information in the form of a distribution of possible target locations, or…
We introduce the Graph TT (GTT) and Graph OSPA (GOSPA) metrics based on optimal assignment, which allow us to compare not only the edge structures but also general vertex and edge attributes of graphs of possibly different sizes. We argue…
We study two sensor assignment problems for multi-target tracking with the goal of improving the observability of the underlying estimator. We consider various measures of the observability matrix as the assignment value function. We first…
In this paper we study the problem of tracking an object moving randomly through a network of wireless sensors. Our objective is to devise strategies for scheduling the sensors to optimize the tradeoff between tracking performance and…
This paper proposes a family of graph metrics for measuring distances between graphs of different sizes. The proposed metric family defines a general form of the graph generalised optimal sub-pattern assignment (GOSPA) metric and is also…
Joint estimation and scheduling for sensor networks is considered in a system formed by two sensors, a scheduler and a remote estimator. Each sensor observes a Gaussian source, which may be correlated. The scheduler observes the output of…