Multitarget Simultaneous Localization and Mapping of a Sensor Network

Garcia-Fernandez, Angel F ORCID: 0000-0002-6471-8455, Morelande, Mark R and Grajal, Jesus (2011) Multitarget Simultaneous Localization and Mapping of a Sensor Network IEEE TRANSACTIONS ON SIGNAL PROCESSING, 59 (10). pp. 4544-4558. ISSN 1053-587X, 1941-0476

Text manuscript_slam.pdf - Author Accepted Manuscript Download (1MB) | Preview

Abstract

This paper addresses the problem of simultaneously localizing multiple targets and estimating the positions of the sensors in a sensor network using particle filters. We develop a new technique called multitarget simultaneous localization and mapping (MSLAM) that has better performance than the well-known FastSLAM when there are several targets in the surveillance area. The proposed algorithm is based on the parallel partition particle filter, especially designed for multiple target tracking, and the truncated unscented Kalman filter for updating the sensors' positions. © 2011 IEEE.

Item Type:	Article
Uncontrolled Keywords:	Multitarget SLAM, particle filters, sensor networks, tracking, truncated unscented Kalman filter
Divisions:	Faculty of Science & Engineering > School of Electrical Engineering, Electronics and Computer Science
Depositing User:	Symplectic Admin
Date Deposited:	19 Apr 2021 09:22
Last Modified:	23 May 2026 01:17
DOI:	10.1109/TSP.2011.2160862
Related Websites:	Author Publisher
URI:	https://livrepository.liverpool.ac.uk/id/eprint/3119489
Disclaimer:	The University of Liverpool is not responsible for content contained on other websites from links within repository metadata. Please contact us if you notice anything that appears incorrect or inappropriate.