Related papers: Efficient Implementations of Extended Object PMBM …

This paper considers a batch solution to the multi-object tracking problem based on sets of trajectories. Specifically, we present two offline implementations of the trajectory Poisson multi-Bernoulli mixture (TPMBM) filter for batch data…

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 the original approach which involves separate truncations in…

Targets that generate multiple measurements at a given instant in time are commonly known as extended targets. These present a challenge for many tracking algorithms, as they violate one of the key assumptions of the standard measurement…

This paper is concerned with the problem of distributed extended object tracking, which aims to collaboratively estimate the state and extension of an object by a network of nodes. In traditional tracking applications, most approaches…

The particle Gibbs sampler is a Markov chain Monte Carlo (MCMC) algorithm to sample from the full posterior distribution of a state-space model. It does so by executing Gibbs sampling steps on an extended target distribution defined on the…

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 two efficient, approximate formulations of the multi-sensor labelled multi-Bernoulli (LMB) filter, which both allow the sensors' measurement updates to be computed in parallel. Our first filter is based on the…

This paper presents the Gaussian implementation of the multi-Bernoulli mixture (MBM) filter. The MBM filter provides the filtering (multi-target) density for the standard dynamic and radar measurement models when the birth model is…

This paper presents a general solution for computing the multi-object posterior for sets of trajectories from a sequence of multi-object (unlabelled) filtering densities and a multi-object dynamic model. Importantly, the proposed solution…

We propose an efficient random finite set (RFS) based algorithm for multiobject tracking in which the object states are modeled by a combination of a labeled multi-Bernoulli (LMB) RFS and a Poisson RFS. The less computationally demanding…

Bayesian hierarchical Poisson models are an essential tool for analyzing count data. However, designing efficient algorithms to sample from the posterior distribution of the target parameters remains a challenging task for this class of…

The probability hypothesis density (PHD) and Poisson multi-Bernoulli (PMB) filters are two popular set-type multi-object filters. Motivated by the fact that the multi-object filtering density after each update step in the PHD filter is a…

High-resolution radar sensors are critical for autonomous systems but pose significant challenges to traditional tracking algorithms due to the generation of multiple measurements per object and the presence of multipath effects. Existing…

This paper provides a scalable, multi-sensor measurement adaptive track initiation technique for labeled random finite set filters. A naive construction of the multi-sensor measurement adaptive birth set distribution leads to an exponential…

This paper proposes multi-target filtering algorithms in which target dynamics are given in continuous time and measurements are obtained at discrete time instants. In particular, targets appear according to a Poisson point process (PPP) in…

Markov Chain Monte Carlo (MCMC) methods are a popular technique in Bayesian statistical modeling. They have long been used to obtain samples from posterior distributions, but recent research has focused on the scalability of these…

Millimeter wave (mmWave) signals are useful for simultaneous localization and mapping (SLAM), due to their inherent geometric connection to the propagation environment and the propagation channel. To solve the SLAM problem, existing…

Gibbs sampling is one of the most popular Markov chain Monte Carlo algorithms because of its simplicity, scalability, and wide applicability within many fields of statistics, science, and engineering. In the labeled random finite sets…

Accurate 3D multi-object tracking (MOT) is crucial for autonomous driving, as it enables robust perception, navigation, and planning in complex environments. While deep learning-based solutions have demonstrated impressive 3D MOT…