相关论文: Trajectory PMB Filters for Extended Object Trackin…

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 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…

In many multiobject tracking applications, including radar and sonar tracking, after prefiltering the received signal, measurement data is typically structured in cells. The cells, e.g., represent different range and bearing values.…

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…

Accurately tracking an unknown and time-varying number of objects in complex environments is a significant challenge but a fundamental capability in a variety of applications, including applied ocean sciences, surveillance, autonomous…

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…

This paper presents the distributed Poisson multi-Bernoulli (PMB) filter based on the generalised covariance intersection (GCI) fusion rule for distributed multi-object filtering. Since the exact GCI fusion of two PMB densities is…

This paper proposes a smooth-trajectory estimator for the labelled multi-Bernoulli (LMB) filter by exploiting the special structure of the generalised labelled multi-Bernoulli (GLMB) filter. We devise a simple and intuitive approach to…

In this paper we introduce spatiotemporal constraints for trajectories, i.e., restrictions that the trajectory must be in some part of the state space (spatial constraint) at some point in time (temporal constraint). Spatiotemporal…

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,…

Algorithmic solutions for multi-object tracking (MOT) are a key enabler for applications in autonomous navigation and applied ocean sciences. State-of-the-art MOT methods fully rely on a statistical model and typically use preprocessed…

This paper introduces a Poisson multi-Bernoulli mixture (PMBM) filter in which the intensities of target birth and undetected targets are grid-based. A simplified version of the Rao-Blackwellized point mass filter is used to predict the…

This paper proposes a belief propagation (BP)-based algorithm for sequential detection and estimation of multipath component (MPC) parameters based on radio signals. Under dynamic channel conditions with moving transmitter/receiver, the…

This paper presents the probability hypothesis density (PHD) filter for sets of trajectories: the trajectory probability density (TPHD) filter. The TPHD filter is capable of estimating trajectories in a principled way without requiring to…

Multiobject tracking provides situational awareness that enables new applications for modern convenience, applied ocean sciences, public safety, and homeland security. In many multiobject tracking applications, including radar and sonar…

This paper provides a comparative analysis between the adaptive birth model used in the labelled random finite set literature and the track initiation in the Poisson multi-Bernoulli mixture (PMBM) filter, with point-target models. The PMBM…

Radio-based vehicular simultaneous localization and mapping (SLAM) aims to localize vehicles while mapping the landmarks in the environment. We propose a sequence of three Poisson multi-Bernoulli mixture (PMBM) based SLAM filters, which…

A variety of filters with track-before-detect (TBD) strategies have been developed and applied to low signal-to-noise ratio (SNR) scenarios, including the probability hypothesis density (PHD) filter. Assumptions of the standard point…

Situation-aware technologies enabled by multiobject tracking (MOT) methods will create new services and applications in fields such as autonomous navigation and applied ocean sciences. Belief propagation (BP) is a state-of-the-art method…

Partially observable Markov decision processes (POMDPs) provide a flexible representation for real-world decision and control problems. However, POMDPs are notoriously difficult to solve, especially when the state and observation spaces are…