A Poisson Multi-Bernoulli Mixture Filter for Coexisting Point and Extended Targets

Garcia-Fernandez, Angel ORCID: 0000-0002-6471-8455, Williams, Jason, Svensson, Lennart and Xia, Yuxuan (2021) A Poisson Multi-Bernoulli Mixture Filter for Coexisting Point and Extended Targets. IEEE TRANSACTIONS ON SIGNAL PROCESSING, 69. pp. 2600-2610.

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Official URL: http://dx.doi.org/10.1109/TSP.2021.3072006

Abstract

This paper proposes a Poisson multi-Bernoulli mixture (PMBM) filter for coexisting point and extended targets, i.e., for scenarios where there may be simultaneous point and extended targets. The PMBM filter provides a recursion to compute the multi-target filtering posterior based on probabilistic information on data associations, and single-target predictions and updates. In this paper, we first derive the PMBM filter update for a generalised measurement model, which can include measurements originated from point and extended targets. Second, we propose a single-target space that accommodates both point and extended targets and derive the filtering recursion that propagates Gaussian densities for point targets and gamma Gaussian inverse Wishart densities for extended targets. As a computationally efficient approximation of the PMBM filter, we also develop a Poisson multi-Bernoulli (PMB) filter for coexisting point and extended targets. The resulting filters are analysed via numerical simulations.

Item Type:	Article
Additional Information:	Matlab files can be found at https://github.com/Agarciafernandez/Coexisting-point-extended-target-PMBM-filter and https://github.com/yuhsuansia/Coexisting-point-extended-target-PMBM-filter. A relevant multi-object tracking course can be found at https://www.youtube.com/channel/UCa2-fpj6AV8T6JK1uTRuFpw
Uncontrolled Keywords:	Time measurement, Density measurement, Standards, Computational modeling, Probabilistic logic, Weight measurement, Clutter, Multiple target filtering, point targets, extended targets
Divisions:	Faculty of Science and Engineering > School of Electrical Engineering, Electronics and Computer Science
Depositing User:	Symplectic Admin
Date Deposited:	17 May 2021 07:11
Last Modified:	17 Mar 2024 10:32
DOI:	10.1109/TSP.2021.3072006
Related URLs:	Author Publisher
URI:	https://livrepository.liverpool.ac.uk/id/eprint/3123000