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Random Finite Sets and Sequential Monte Carlo Methods in Multi-Target Tracking

2005
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Release : 2005
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Book Synopsis Random Finite Sets and Sequential Monte Carlo Methods in Multi-Target Tracking by :

Download or read book Random Finite Sets and Sequential Monte Carlo Methods in Multi-Target Tracking written by . This book was released on 2005. Available in PDF, EPUB and Kindle. Book excerpt: Random finite sets provide a rigorous foundation for optimal Bayes multi-target filtering. The major hurdle faced in Bayes multi-target filtering is the inherent computational intractability of the method. Even the Probability Hypothesis Density (PHD) filter, which propagates only the first moment (or PHD) instead of the full multi-target posterior, still involves multiple integrals with no closed forms. In this paper, the authors highlight the relationship between the Radon-Nikodym derivative and set derivative of random finite sets that enable a Sequential Monte Carlo (SMC) implementation of the optimal multi-target filter. In addition, a generalized SMC method to implement the PHD filter also is presented. the SMC PHD filter has an attractive feature -- its computational complexity is independent of the (time-varying) number of targets.

Random Finite Sets for Robot Mapping & SLAM

2011-05-19 Technology & Engineering
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Release : 2011-05-19
Genre : Technology & Engineering
Kind : eBook
Book Rating : 898/5 ( reviews)

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Book Synopsis Random Finite Sets for Robot Mapping & SLAM by : John Stephen Mullane

Download or read book Random Finite Sets for Robot Mapping & SLAM written by John Stephen Mullane. This book was released on 2011-05-19. Available in PDF, EPUB and Kindle. Book excerpt: The monograph written by John Mullane, Ba-Ngu Vo, Martin Adams and Ba-Tuong Vo is devoted to the field of autonomous robot systems, which have been receiving a great deal of attention by the research community in the latest few years. The contents are focused on the problem of representing the environment and its uncertainty in terms of feature based maps. Random Finite Sets are adopted as the fundamental tool to represent a map, and a general framework is proposed for feature management, data association and state estimation. The approaches are tested in a number of experiments on both ground based and marine based facilities.

Target Tracking with Random Finite Sets

2023-08-02 Technology & Engineering
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Release : 2023-08-02
Genre : Technology & Engineering
Kind : eBook
Book Rating : 159/5 ( reviews)

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Book Synopsis Target Tracking with Random Finite Sets by : Weihua Wu

Download or read book Target Tracking with Random Finite Sets written by Weihua Wu. This book was released on 2023-08-02. Available in PDF, EPUB and Kindle. Book excerpt: This book focuses on target tracking and information fusion with random finite sets. Both principles and implementations have been addressed, with more weight placed on engineering implementations. This is achieved by providing in-depth study on a number of major topics such as the probability hypothesis density (PHD), cardinalized PHD, multi-Bernoulli (MB), labeled MB (LMB), d-generalized LMB (d-GLMB), marginalized d-GLMB, together with their Gaussian mixture and sequential Monte Carlo implementations. Five extended applications are covered, which are maneuvering target tracking, target tracking for Doppler radars, track-before-detect for dim targets, target tracking with non-standard measurements, and target tracking with multiple distributed sensors. The comprehensive and systematic summarization in target tracking with RFSs is one of the major features of the book, which is particularly suited for readers who are interested to learn solutions in target tracking with RFSs. The book benefits researchers, engineers, and graduate students in the fields of random finite sets, target tracking, sensor fusion/data fusion/information fusion, etc.

Random Finite Sets for Multitarget Tracking with Applications

2011
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Release : 2011
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Book Synopsis Random Finite Sets for Multitarget Tracking with Applications by : Trevor M. Wood

Download or read book Random Finite Sets for Multitarget Tracking with Applications written by Trevor M. Wood. This book was released on 2011. Available in PDF, EPUB and Kindle. Book excerpt: Multitarget tracking is the process of jointly determining the number of tar- gets present and their states from noisy sets of measurements. The difficulty of the multitarget tracking problem is that the number of targets present can change as targets appear and disappear while the sets of measurements may contain false alarms and measurements of true targets may be missed. The theory of random finite sets was proposed as a systematic, Bayesian approach to solving the multitarget tracking problem. The conceptual solution is given by Bayes filtering fer the probability distribution of the set of target states, conditioned on the sets of measurements received, known as the multitar- get Bayes filter. A first-moment approximation to this filter, the probability hypothesis density (PHD) filter, provides a more computationally practical, but theoretically sound, solution. The central thesis of this work is that the random finite set frame- work is theoretically sound, compatible with the Bayesian methodology and amenable to immediate implementation in a wide range of contexts. In ad- vancing this thesis, new links between the PHD filter and existing Bayesian approaches for manoeuvre handling and incorporation of target amplitude information are presented. A new multi target metric which permits incor- poration of target confidence information is derived and new algorithms are developed which facilitate sequential Monte Carlo implementations of the PHD filter. Several applications of the PHD filter are presented, with a focus on applica.tions for tracking in sonar data. Good results are presented for im- plementations on real active and passive sonar data. The PHD filter is also deployed in order to extract bacterial trajectories from microscopic visual data in order to aid ongoing work in understanding bacterial chemotaxis. A performance comparison between the PHD filter and conventional mul- titarget tracking methods using simulated data is also presented, showing favourable results for the PHD filter.

Random Finite Sets in Multi-target Tracking

2013
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Release : 2013
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Book Rating : 789/5 ( reviews)

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Book Synopsis Random Finite Sets in Multi-target Tracking by : Mélanie Anne Édith Bocquel

Download or read book Random Finite Sets in Multi-target Tracking written by Mélanie Anne Édith Bocquel. This book was released on 2013. Available in PDF, EPUB and Kindle. Book excerpt:

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