相关论文: A Generalized Labeled Multi-Bernoulli Filter for M…

The ability of an autonomous vehicle to perform 3D tracking is essential for safe planing and navigation in cluttered environments. The main challenges for multi-object tracking (MOT) in autonomous driving applications reside in the…

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 FBMS R package facilitates Bayesian model selection and model averaging in complex regression settings by employing a variety of Monte Carlo model exploration methods. At its core, the package implements an efficient Mode Jumping Markov…

The paper addresses the problem of multi-sensor control for multi-target tracking via labelled random finite sets (RFS) in the sensor network systems. Based on an information theoretic divergence measure, namely Cauchy-Schwarz (CS)…

Advancements in artificial active matter heavily rely on our ability to characterise their motion. Yet, the most widely used tool to analyse the latter is standard wide-field microscopy, which is largely limited to the study of…

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…

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…

In this work, we develop tracking and estimation techniques relevant to underwater targets. Particularly, we explore particle filtering techniques for target tracking. It is a numerical approximation method for implementing a recursive…

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…

The goal of system identification is to learn about underlying physics dynamics behind the time-series data. To model the probabilistic and nonparametric dynamics model, Gaussian process (GP) have been widely used; GP can estimate the…

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…

This letter presents a versatile trajectory planning pipeline for aerial tracking. The proposed tracker is capable of handling various chasing settings such as complex unstructured environments, crowded dynamic obstacles and multiple-target…

In this paper, we introduce a reversible version of a genetically modified mode jumping Markov chain Monte Carlo algorithm (GMJMCMC) for inference on posterior model probabilities in complex model spaces, where the number of explanatory…

In a variety of problems, the number and state of multiple moving targets are unknown and are subject to be inferred from their measurements obtained by a sensor with limited sensing ability. This type of problems is raised in a variety of…

We consider continuous-time, finite-horizon, optimal quadratic control of semi-Markov jump linear systems (S-MJLS), and develop principled approximations through Markov-like representations for the holding-time distributions. We adopt a…

This paper presents a novel approach to detect abnormalities in dynamic systems based on multisensory data and feature selection. The proposed method produces multiple inference models by considering several features of the observed data.…

This paper studies the problem of detection and tracking of general objects with long-term dynamics, observed by a mobile robot moving in a large environment. A key problem is that due to the environment scale, it can only observe a subset…

We study the problem of searching for and tracking a collection of moving targets using a robot with a limited Field-Of-View (FOV) sensor. The actual number of targets present in the environment is not known a priori. We propose a search…

To account for joint tracking and classification (JTC) of multiple targets from observation sets in presence of detection uncertainty, noise and clutter, this paper develops a new trajectory probability hypothesis density (TPHD) filter,…

A framework for tightly integrated motion mode classification and state estimation in motion-constrained inertial navigation systems is presented. The framework uses a jump Markov model to describe the navigation system's motion mode and…