相关论文: Multiple Object Trajectory Estimation Using Backwa…

This paper presents a solution for recovering full trajectory information, via the calculation of the posterior of the set of trajectories, from a sequence of multitarget (unlabelled) filtering densities and the multitarget dynamic model.…

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…

This paper presents two trajectory Poisson multi-Bernoulli (TPMB) filters for multi-target tracking: one to estimate the set of alive trajectories at each time step and another to estimate the set of all trajectories, which includes alive…

This work presents a tractable approach to multi-object posterior computation under a generic measurement likelihood function. While filtering is a popular solution, valuable historical information is discarded. Posterior inference, which…

In this paper, we propose a Poisson multi-Bernoulli (PMB) filter for extended object tracking (EOT), which directly estimates the set of object trajectories, using belief propagation (BP). The proposed filter propagates a PMB density on the…

This paper proposes an efficient implementation of the Poisson multi-Bernoulli mixture (PMBM) trajectory filter. The proposed implementation performs track-oriented N-scan pruning to limit complexity, and uses dual decomposition to solve…

This paper presents a Poisson multi-Bernoulli mixture (PMBM) filter for multi-target filtering based on sensor measurements that are sets of trajectories in the last two-time step window. The proposed filter, the trajectory measurement PMBM…

The Poisson Multi-Bernoulli Mixture (PMBM) density is a conjugate multi-target density for the standard point target model with Poisson point process birth. This means that both the filtering and predicted densities for the set of targets…

If computational tractability were not an issue, multi-object estimation should integrate all measurements from multiple sensors across multiple scans. In this article, we propose an efficient numerical solution to the multi-scan…

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…

The Poisson multi-Bernoulli mixture (PMBM) and the multi-Bernoulli mixture (MBM) are two multi-target distributions for which closed-form filtering recursions exist. The PMBM has a Poisson birth process, whereas the MBM has a…

This paper presents an exact Bayesian filtering solution for the multi-object tracking problem with the generic observation model. The proposed solution is designed in the labeled random finite set framework, using the product styled…

This paper addresses the mapping problem. Using a conjugate prior form, we derive the exact theoretical batch multi-object posterior density of the map given a set of measurements. The landmarks in the map are modeled as extended objects,…

The Poisson multi-Bernoulli mixture (PMBM) is a multi-object conjugate prior for the closed-form Bayes random finite sets filter. The extended object PMBM filter provides a closed-form solution for multiple extended object filtering with…

This paper presents a Poisson multi-Bernoulli mixture (PMBM) conjugate prior for multiple extended object filtering. A Poisson point process is used to describe the existence of yet undetected targets, while a multi-Bernoulli mixture…

Multi-object estimation in state-space models (SSMs) wherein the system state is represented as a finite set has attracted significant interest in recent years. In Bayesian inference, the posterior density captures all information on the…

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…

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…

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…

This paper considers multiple extended object tracking based on Poisson multi-Bernoulli mixture (PMBM) filtering, which gives the closed-form Bayesian solution for standard multiple extended object models with Poisson birth. To efficiently…