Extended target Poisson multi-Bernoulli mixture trackers based on sets of trajectories
Paper in proceedings, 2019

The Poisson multi-Bernoulli mixture (PMBM) is a multi-target distribution for which the prediction and update are closed. By applying the random finite set (RFS) framework to multi-target tracking with sets of trajectories as the variable of interest, the PMBM trackers can efficiently estimate the set of target trajectories. This paper derives two trajectory RFS filters for extended target tracking, called extended target PMBM trackers. Compared to the extended target PMBM filter based on sets on targets, explicit track continuity between time steps is provided in the extended target PMBM trackers.

random finite set

Multi-target tracking

Bayesian estimation

trajectory

extended target

Author

Yuxuan Xia

Chalmers, Electrical Engineering, Signal Processing and Biomedical Engineering, Signal Processing

Karl Granström

Chalmers, Electrical Engineering, Signal Processing and Biomedical Engineering, Signal Processing

Lennart Svensson

Chalmers, Electrical Engineering, Signal Processing and Biomedical Engineering, Signal Processing

Angel Garcia

University of Liverpool

Jason L. Williams

CSIRO Data61

FUSION 2019 - 22nd International Conference on Information Fusion

9011181

22nd International Conference on Information Fusion, FUSION 2019
Ottawa, Canada,

Subject Categories

Probability Theory and Statistics

Control Engineering

Signal Processing

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Latest update

10/30/2020