作者
Augustin-Alexandru Saucan, Yunpeng Li, Mark Coates
发表日期
2017/5/2
研讨会论文
Signal Processing, Sensor/Information Fusion, and Target Recognition XXVI
卷号
10200
页码范围
116-127
出版商
SPIE
简介
In this paper we propose a Superpositional Marginalized δ-GLMB (SMδ-GLMB) filter for multi-target tracking and we provide bootstrap and particle flow particle filter implementations. Particle filter implementations of the marginalized δ-GLMB filter are computationally demanding. As a first contribution we show that for the specific case of superpositional observation models, a reduced complexity update step can be achieved by employing a superpositional change of variables. The resulting SMδ-GLMB filter can be readily implemented using the unscented Kalman filter or particle filtering methods. As a second contribution, we employ particle flow to produce a measurement-driven importance distribution that serves as a proposal in the SMδ-GLMB particle filter. In high-dimensional state systems or for highly- informative observations the generic particle filter often suffers from weight degeneracy or otherwise requires …
引用总数
201820192020202120222023431232
学术搜索中的文章
AA Saucan, Y Li, M Coates - Signal Processing, Sensor/Information Fusion, and …, 2017