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.

Författare

Maryam Fatemi

Chalmers, Signaler och system, Signalbehandling och medicinsk teknik, Signalbehandling

Lennart Svensson

Chalmers, Signaler och system, Signalbehandling och medicinsk teknik, Signalbehandling

Karl Granström

Chalmers, Signaler och system, Signalbehandling och medicinsk teknik, Signalbehandling

Styrkeområden

Transport

Ämneskategorier

Signalbehandling