相关论文: Sensor management for multi-target tracking via Mu…
This paper proposes a heterogenous density fusion approach to scalable multisensor multitarget tracking where the inter-connected sensors run different types of random finite set (RFS) filters according to their respective capacity and…
Controlling large swarms of robotic agents presents many challenges including, but not limited to, computational complexity due to a large number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the…
The generalized labeled multi-Bernoulli (GLMB) filter is a theoretically rigorous Bayes-optimal multitarget tracking algorithm with computationally tractable implementations, based on labeled random finite set (LRFS) theory. It presumes…
This paper uses multi-object tracking methods known from the radar tracking community to address the problem of pedestrian tracking using 2D bounding box detections. The standard point-object (SPO) model is adopted, and the posterior…
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…
Tracking multiple time-varying states based on heterogeneous observations is a key problem in many applications. Here, we develop a statistical model and algorithm for tracking an unknown number of targets based on the probabilistic fusion…
Tracking multiple targets in dynamic environments using distributed sensor networks is a fundamental problem in statistical signal processing. In such scenarios, the network of mobile sensors must coordinate their actions to accurately…
In this paper, we investigate the problem of remote estimation of a discrete-time joint Markov process using multiple sensors. Each sensor observes a different component of the joint Markov process, and in each time slot, the monitor…
In multi-object tracking applications, model parameter tuning is a prerequisite for reliable performance. In particular, it is difficult to know statistics of false measurements due to various sensing conditions and changes in the field of…
While the design of automated knowledge-based sensor scheduling is relevant to many multi-target detection and tracking problems, tracking algorithms are rarely built for this purpose and their outputs provide little flexibility for the…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
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…
We consider the online planning problem for a team of agents to discover and track an unknown and time-varying number of moving objects from onboard sensor measurements with uncertain measurement-object origins. Since the onboard sensors…
A decentralized Poisson multi-Bernoulli filter is proposed to track multiple vehicles using multiple high-resolution sensors. Independent filters estimate the vehicles' presence, state, and shape using a Gaussian process extent model; a…
Controlling large swarms of robotic agents has many challenges including, but not limited to, computational complexity due to the number of agents, uncertainty in the functionality of each agent in the swarm, and uncertainty in the swarm's…
This paper addresses distributed multi-target tracking (DMTT) over a network of sensors having different fields-of-view (FoVs). Specifically, a cardinality probability hypothesis density (CPHD) filter is run at each sensor node. Due to the…
In many applications, tracking of multiple objects is crucial for a perception of the current environment. Most of the present multi-object tracking algorithms assume that objects move independently regarding other dynamic objects as well…
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…
Much recent research on multi-target tracking has focused on multi-hypothesis approaches leveraging random finite sets. Of particular interest are labeled random finite set methods that maintain temporally coherent labels for each object.…
Technological advancements in miniaturization and wireless communications are yielding more affordable and versatile sensors and, in turn, more applications in which a network of sensors can be actively managed to best support overall…