Related papers: Robust Probability Hypothesis Density Filtering: T…
In this paper, we derive the robust TPHD (R-TPHD) filter, which can adaptively learn the unknown detection profile history and clutter rate. The R-TPHD filter is derived by obtaining the best Poisson posterior density approximation over…
Particle probability hypothesis density filtering has become a promising means for multi-target tracking due to its capability of handling an unknown and time-varying number of targets in non-linear non-Gaussian system. However, its…
The pursuit of robustness has recently been a popular topic in reinforcement learning (RL) research, yet the existing methods generally suffer from efficiency issues that obstruct their real-world implementation. In this paper, we introduce…
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…
Mahler's PHD (Probability Hypothesis Density) filter and its particle implementation (as called the particle PHD filter) have gained popularity to solve general MTT (Multi-target Tracking) problems. However, the resampling procedure used in…
A variety of filters with track-before-detect (TBD) strategies have been developed and applied to low signal-to-noise ratio (SNR) scenarios, including the probability hypothesis density (PHD) filter. Assumptions of the standard point…
The Probability Hypothesis Density (PHD) and Cardinalized PHD (CPHD) filters are popular solutions to the multi-target tracking problem due to their low complexity and ability to estimate the number and states of targets in cluttered…
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…
In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…
This paper develops a general trajectory probability hypothesis density (TPHD) filter, which uses a general density for target-generated measurements and is able to estimate trajectories of coexisting point and extended targets. First, we…
Many multi-object estimation problems require additional estimation of model or sensor parameters that are either common to all objects or related to unknown characterisation of one or more sensors. Important examples of these include…
As in other estimation scenarios, likelihood based estimation in the normal mixture set-up is highly non-robust against model misspecification and presence of outliers (apart from being an ill-posed optimization problem). A robust…
Many physical systems evolve on matrix Lie groups and mixture filtering designed for such manifolds represent an inevitable tool for challenging estimation problems. However, mixture filtering faces the issue of a constantly growing number…
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…
This paper introduces a novel methodology for generating controlled, multi-level dust concentrations in a highly cluttered environment representative of harsh, enclosed environments, such as underground mines, road tunnels, or collapsed…
In this paper, we present a randomized version of the finite set statistics (FISST) Bayesian recursions for multi-object tracking problems. We propose a hypothesis level derivation of the FISST equations that shows that the multi-object…
In this paper, we propose two methods for tracking multiple extended targets or unresolved group targets with elliptical extent shape. These two methods are deduced from the famous Probability Hypothesis Density (PHD) filter and the…
Multilook coherent imaging is a widely used technique in applications such as digital holography, ultrasound imaging, and synthetic aperture radar. A central challenge in these systems is the presence of multiplicative noise, commonly known…
Parameter-efficient tuning (PET) techniques calibrate the model's predictions on downstream tasks by freezing the pre-trained models and introducing a small number of learnable parameters. However, despite the numerous PET methods proposed,…
In this paper, we establish a connection between Reid{'}s HOMHT and the modern Random Finite Set (RFS)/ Finite Set Statistics (FISST) based methods for Multi-Target Tracking. We start with an RFS description of the Multi-Target probability…