Poisson multi-Bernoulli filter for extended object tracking
Preprint, 2016

This paper presents a track-oriented Poisson multi-Bernoulli (PMB) filter for extended objects. The PMB filter is based on the Poisson multi-Bernoulli mixture (PMBM) conjugate prior and approximates the posterior PMBM by merging tracks across data association hypotheses. A method to create new tracks in a reasonable manner is proposed which uses a combination of pre-clustering, recycling and equivalence class among PMBM distributions.To approximate the marginal distributions of different tracks we use Gibbs sampling. The performance of the PMB is compared to the PMBM using a simulated scenario.

Author

Maryam Fatemi

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

Lennart Svensson

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

Karl Granström

Chalmers, Signals and Systems, Signalbehandling och medicinsk teknik, Signal Processing

Areas of Advance

Transport

Subject Categories

Signal Processing

More information

Created

10/7/2017