Related papers: Efficient Implementations of Extended Object PMBM …
This paper addresses multi-object systems, where objects may occlude one another relative to the sensor. The standard point-object model for detection-based sensors is enhanced so that the probability of detection considers the presence of…
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…
This paper addresses distributed multi-object tracking over a network of heterogeneous and geographically dispersed nodes with sensing, communication and processing capabilities. The main contribution is an approach to distributed…
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…
We describe a novel approach to statistical learning from particles tracked while moving in a random environment. The problem consists in inferring properties of the environment from recorded snapshots. We consider here the case of a fluid…
Multiple extended target tracking (ETT) has gained increasing attention due to the development of high-precision LiDAR and radar sensors in automotive applications. For LiDAR point cloud-based vehicle tracking, this paper presents a…
This paper proposes a multi-object tracking (MOT) algorithm for traffic monitoring using a drone equipped with optical and thermal cameras. Object detections on the images are obtained using a neural network for each type of camera. The…
The histogram-probabilistic multi-hypothesis tracker (H-PMHT) is a parametric approach to solving the multi-target track-before-detect (TBD) problem, using expectation maximisation (EM). A key limitation of this method is the assumption of…
This paper adopts a Bayesian nonparametric mixture model where the mixing distribution belongs to the wide class of normalized homogeneous completely random measures. We propose a truncation method for the mixing distribution by discarding…
Gibbs sampling is a common procedure used to fit finite mixture models. However, it is known to be slow to converge when exploring correlated regions of a parameter space and so blocking correlated parameters is sometimes implemented in…
This paper derives the optimal Bayesian processing of an out-of-sequence (OOS) set of measurements in continuous-time for multiple target tracking. We consider a multi-target system modelled in continuous time that is discretised at the…
In a typical multitarget tracking (MTT) scenario, the sensor state is either assumed known, or tracking is performed in the sensor's (relative) coordinate frame. This assumption does not hold when the sensor, e.g., an automotive radar, is…
A common impediment in conducting inference for Bayesian nonparametric models is either the need for complex MCMC algorithms and/or computational run-time for large datasets. We propose solutions here for Enriched Dirichlet process mixtures…
In this paper, we investigate combining blocking and collapsing -- two widely used strategies for improving the accuracy of Gibbs sampling -- in the context of probabilistic graphical models (PGMs). We show that combining them is not…
In this paper, we propose a distributed multi-object tracking algorithm through the use of multi-Bernoulli (MB) filter based on generalized Covariance Intersection (G-CI). Our analyses show that the G-CI fusion with two MB posterior…
Mixture models are a standard tool in statistical analyses, widely used for density modeling and model-based clustering. In this work, we propose a Bayesian mixture model with repulsion between mixture components. Such repulsion helps…
This paper proposes the Trajectory-Information Exchange Multi-Bernoulli (T-IEMB) filter to estimate sets of alive and all trajectories in track-before-detect applications with generalised superpositional measurements. This measurement model…
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…
With the increasing complexity of multiple target tracking scenes, a single sensor may not be able to effectively monitor a large number of targets. Therefore, it is imperative to extend the single-sensor technique to Multi-Sensor…
This paper is a sequel of the 2019 paper [5]. It demonstrates the following: a) the Poisson multi-Bernoulli mixture (PMBM) approach to detected vs. undetected (U/D) targets cannot be rigorously formulated using either the two-step or…