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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…
Mixture models, such as Gaussian mixture models, are widely used in machine learning to represent complex data distributions. A key challenge, especially in high-dimensional settings, is to determine the mixture order and estimate the…
Gaussian mixture filters for nonlinear systems usually rely on severe approximations when calculating mixtures in the prediction and filtering step. Thus, offline approximations of noise densities by Gaussian mixture densities to reduce the…
The development of the phase-imaging ion-cyclotron resonance (PI-ICR) technique for use in Penning trap mass spectrometry (PTMS) increased the speed and precision with which PTMS experiments can be carried out. In PI-ICR, data sets of the…
This paper addresses the problem of registering multiple point sets. Solutions to this problem are often approximated by repeatedly solving for pairwise registration, which results in an uneven treatment of the sets forming a pair: a model…
GNSS localization is an important part of today's autonomous systems, although it suffers from non-Gaussian errors caused by non-line-of-sight effects. Recent methods are able to mitigate these effects by including the corresponding…
Finite mixture such as the Gaussian mixture is a flexible and powerful probabilistic modeling tool for representing the multimodal distribution widely involved in many estimation and learning problems. The core of it is representing the…
Distributed multi-target tracking (DMTT) is addressed for sensors having different fields of view (FoVs). The proposed approach is based on the idea of fusing the posterior Probability Hypotheses Densities (PHDs) generated by the sensors on…
This paper proposes a heterogenous density fusion approach to scalable multisensor multitarget tracking where the inter-connected sensors run different types of random finite set (RFS) filters according to their respective capacity and…
By attaching auxiliary event times to the chronologically ordered observations, we formulate the Bayesian multiple changepoint problem of discrete-time observations into that of continuous-time ones. A version of forward-filtering…
In this paper, we address the problem of the distributed multi-target tracking with labeled set filters in the framework of Generalized Covariance Intersection (GCI). Our analyses show that the label space mismatching (LS-DM) phenomenon,…
This paper considers the problem of the distributed fusion of multi-object posteriors in the labeled random finite set filtering framework, using Generalized Covariance Intersection (GCI) method. Our analysis shows that GCI fusion with…
Modeling complex physical systems such as they arise in civil engineering applications requires finding a trade-off between physical fidelity and practicality. Consequently, deviations of simulation from measurements are ubiquitous even…
Bias estimation or sensor registration is an essential step in ensuring the accuracy of global tracks in multisensor-multitarget tracking. Most previously proposed algorithms for bias estimation rely on local measurements in centralized…
Consensus is a popular technique for distributed state estimation. This formulation allows networks of connected agents or sensors to exchange information about the distribution of a set of targets with their immediate neighbors without the…
In this paper, secure, remote estimation of a linear Gaussian process via observations at multiple sensors is considered. Such a framework is relevant to many cyber-physical systems and internet-of-things applications. Sensors make…
In many modern applications, large-scale sensor networks are used to perform statistical inference tasks. In this paper, we propose Bayesian methods for multiple change-point detection using a sensor network in which a fusion center (FC)…
Barycentric averaging is a principled way of summarizing populations of measures. Existing algorithms for estimating barycenters typically parametrize them as weighted sums of Diracs and optimize their weights and/or locations. However,…
In this paper we present a novel iterative multiphase clustering technique for efficiently clustering high dimensional data points. For this purpose we implement clustering feature (CF) tree on a real data set and a Gaussian density…
This work examines the problem of using finite Gaussian mixtures (GM) probability density functions in recursive Bayesian peer-to-peer decentralized data fusion (DDF). It is shown that algorithms for both exact and approximate GM DDF lead…