Related papers: Labeled random finite sets vs. trajectory random f…
State space models in which the system state is a finite set--called the multi-object state--have generated considerable interest in recent years. Smoothing for state space models provides better estimation performance than filtering by…
The probability hypothesis density (PHD) and multi-target multi-Bernoulli (MeMBer) filters are two leading algorithms that have emerged from random finite sets (RFS). In this paper we study a method which combines these two approaches. Our…
In multi-target tracking, a data association hypothesis assigns measurements to tracks, and the hypothesis likelihood (of the joint target-measurement associations) is used to compare among all hypotheses for truncation under a finite…
A Multiple Target, Multiple Type Filtering (MTMTF) algorithm is developed using Random Finite Set (RFS) theory. First, we extend the standard Probability Hypothesis Density (PHD) filter for multiple types of targets, each with distinct…
In this paper we derive a multi-sensor multi-Bernoulli (MS-MeMBer) filter for multi-target tracking. Measurements from multiple sensors are employed by the proposed filter to update a set of tracks modeled as a multi-Bernoulli random finite…
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…
This paper considers multiple extended object tracking based on Poisson multi-Bernoulli mixture (PMBM) filtering, which gives the closed-form Bayesian solution for standard multiple extended object models with Poisson birth. To efficiently…
Recent developments in random finite sets (RFSs) have yielded a variety of tracking methods that avoid data association. This paper derives a form of the full Bayes RFS filter and observes that data association is implicitly present, in a…
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…
As a fundamental piece of multi-object Bayesian inference, multi-object density has the ability to describe the uncertainty of the number and values of objects, as well as the statistical correlation between objects, thus perfectly matches…
In this paper, we propose a metric on the space of finite sets of trajectories for assessing multi-target tracking algorithms in a mathematically sound way. The main use of the metric is to compare estimates of trajectories from different…
We present a random finite set-based method for achieving comprehensive situation awareness by each vehicle in a distributed vehicle network. Our solution is designed for labeled multi-Bernoulli filters running in each vehicle. It involves…
Multi-object estimation in state-space models (SSMs) wherein the system state is represented as a finite set has attracted significant interest in recent years. In Bayesian inference, the posterior density captures all information on the…
In multi-object inference, the multi-object probability density captures the uncertainty in the number and the states of the objects as well as the statistical dependence between the objects. Exact computation of the multi-object density is…
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…
An algorithm for the estimation of multiple targets from partial and corrupted observations is introduced based on the concept of partially-distinguishable multi-target system. It combines the advantages of engineering solutions like MHT…
The process of association and tracking of sensor detections is a key element in providing situational awareness. When the targets in the scenario are dense and exhibit high maneuverability, Multi-Target Tracking (MTT) becomes a challenging…
Multi-object tracking (MOT) and trajectory prediction are two critical components in modern 3D perception systems that require accurate modeling of multi-agent interaction. We hypothesize that it is beneficial to unify both tasks under one…
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…
Multitarget Tracking (MTT) is the problem of tracking the states of an unknown number of objects using noisy measurements, with important applications to autonomous driving, surveillance, robotics, and others. In the model-based Bayesian…