Box-Particle Labeled Multi-Bernoulli Filter for Mltiple Extended Target Tracking

M. Li, Z. Lin, W. An, Y. Zhou

Box-Particle Labeled Multi-Bernoulli Filter for Mltiple Extended Target Tracking

Číslo: 3/2016
Periodikum: Radioengineering Journal
DOI: 10.13164/re.2016.0527

Klíčová slova: Box particle, labeled multi-Bernoulli, multi-target tracking, extended target, interacting multiple models, Box částic, označené více Bernoulliho, více-cílový sledování, rozšířený cíl, interagující více modelů.

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Anotace: This paper focuses on real-time tracking of multiple extended targets in clutter based on labeled multi-Bernoulli filter. To address this problem, a novel approach is proposed within the recently presented box-particle framework. Unlike the traditional point-particle approach, the measurements of extended targets are modeled as interval measurements in this work, and the corresponding likelihood function is given based on interval analysis. Then, labeled multi-Bernoulli recursion for extended targets is implemented by box particles, referred to as BP-LMB filter. Furthermore, BP-MM-LMB filter is proposed to better accommodate the uncertainty of target dynamics by integrating the BP-LMB filter with interacting multiple models (IMM) algorithm. Simulations demonstrate that the proposed approach can significantly reduce the number of particles and well track multiple extended targets with less runtime.