Related papers: Quadratic Kalman Filter for Elliptical Extended Ob…
This paper presents the first discrete-time distributed algorithm to track the tightest ellipsoids that outer approximates the global dynamic intersection of ellipsoids. Given an undirected network, we consider a setup where each node…
The objective is to investigate the advantages and performance of Extended Kalman Filter for the estimation of non-linear system where linearization takes place about a trajectory that was continually updated with the state estimates…
Extended target tracking estimates the centroid and shape of the target in space and time. In various situations where extended target tracking is applicable, the presence of multiple targets can lead to interference, particularly when they…
In the process of tracking multiple point targets in space using radar, since the targets are spatially well separated, the data between them will not be confused. Therefore, the multi-target tracking problem can be transformed into a…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
In order to improve the precision of multi-robot SLAM multi-view target tracking process, a improved multi-robot SLAM multi-view target tracking algorithm based on panoramic vision in irregular environment was put forward, adding an…
Multi-object tracking (MOT) is a crucial component of situational awareness in military defense applications. With the growing use of unmanned aerial systems (UASs), MOT methods for aerial surveillance is in high demand. Application of MOT…
LADARs mounted on mobile platforms produce a wealth of precise range data on the surrounding objects and vehicles. The challenge we address is to infer from these raw LADAR data the location and orientation of nearby vehicles. We propose a…
This work aims to design a distributed extended object tracking (EOT) system over a realistic network, where both the extent and kinematics are required to retain consensus within the entire network. To this end, we resort to the…
Roadside perception is a key component in intelligent transportation systems. In this paper, we present a novel three-dimensional (3D) extended object tracking (EOT) method, which simultaneously estimates the object kinematics and extent…
In this paper, a distributed dual-quaternion multiplicative extended Kalman filter for the estimation of poses and velocities of individual satellites in a fleet of spacecraft is analyzed. The proposed algorithm uses both absolute and…
This document presents the study of the problem of location and trajectory that a robot must follow. It focuses on applying the Kalman filter to achieve location and trajectory estimation in an autonomous mobile differential robot. The…
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…
Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This…
In real-world applications the Perspective-n-Point (PnP) problem should generally be applied in a sequence of images which a set of drift-prone features are tracked over time. In this paper, we consider both the temporal dependency of…
Extended target/object tracking (ETT) problem involves tracking objects which potentially generate multiple measurements at a single sensor scan. State-of-the-art ETT algorithms can efficiently exploit the available information in these…
Deformable parts models show a great potential in tracking by principally addressing non-rigid object deformations and self occlusions, but according to recent benchmarks, they often lag behind the holistic approaches. The reason is that…
In this study, we investigate the problem of tracking objects with unknown shapes using three-dimensional (3D) point cloud data. We propose a Gaussian process-based model to jointly estimate object kinematics, including position,…
Tracking-by-detection has become an attractive tracking technique, which treats tracking as a category detection problem. However, the task in tracking is to search for a specific object, rather than an object category as in detection. In…
This paper presents a model for tracking of extended targets, where each target is represented by a given number of elliptic subobjects. A gamma Gaussian inverse Wishart implementation is derived, and necessary approximations are suggested…