Garcia-Fernandez, Angel F ORCID: 0000-0002-6471-8455 and Svensson, Lennart
(2022)
Tracking Multiple Spawning Targets Using Poisson Multi-Bernoulli Mixtures on Sets of Tree Trajectories.
IEEE TRANSACTIONS ON SIGNAL PROCESSING, 70.
pp. 1987-1999.
Text
PMBM_spawning_accepted_elements.pdf - Author Accepted Manuscript Download (572kB) | Preview |
Abstract
This paper proposes a Poisson multi-Bernoulli mixture (PMBM) filter on the space of sets of tree trajectories for multiple target tracking with spawning targets. A tree trajectory contains all trajectory information of a target and its descendants, which appear due to the spawning process. Each tree contains a set of branches, where each branch has trajectory information of a target or one of the descendants and its genealogy. For the standard dynamic and measurement models with multi-Bernoulli spawning, the posterior is a PMBM density, with each Bernoulli having information on a potential tree trajectory. To enable a computationally efficient implementation, we derive an approximate PMBM filter in which each Bernoulli tree trajectory has multi-Bernoulli branches, obtained by minimising the Kullback-Leibler divergence. The resulting filter improves tracking performance of state-of-the-art algorithms in a simulated scenario.
Item Type: | Article |
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Additional Information: | Matlab code can be found at https://github.com/Agarciafernandez |
Uncontrolled Keywords: | Trajectory, Information filters, Filtering algorithms, Time measurement, Target tracking, Density measurement, Standards, Multiple target tracking, spawning, Poisson multi-Bernoulli mixture, sets of tree trajectories |
Divisions: | Faculty of Science and Engineering > School of Electrical Engineering, Electronics and Computer Science |
Depositing User: | Symplectic Admin |
Date Deposited: | 11 Apr 2022 13:43 |
Last Modified: | 18 Jan 2023 21:05 |
DOI: | 10.1109/TSP.2022.3165947 |
Related URLs: | |
URI: | https://livrepository.liverpool.ac.uk/id/eprint/3152675 |