Title :
A Gaussian Mixture Filter for Near-Far Object Tracking
Author :
Pulford, G.W. ; Salmond, D.J.
Author_Institution :
Qinetiq
Abstract :
The near-far object tracking (NFOT) problem concerns the tracking of an extended object consisting of a set of resolvable sources that, due to finite sensor resolution, appears as a single point when at long range from the sensor. A Gaussian mixture filter for this problem is presented for the case of a linear object comprising a known number of sources. The filter structure is a combination of the probabilistic data association (PDA) filter and the multiple simultaneous measurement filter. The filter takes into account the uncertainty concerning the object´s structure and orientation, as well as the presence of false alarms. Simulations for an open-loop pursuit scenario are presented that compare the performance of the filter with another Gaussian mixture filter that does not consider sensor resolution
Keywords :
Gaussian processes; image resolution; image sensors; object detection; probability; target tracking; tracking filters; Gaussian mixture filter; NFOT; PDA filter; false alarm; multiple simultaneous measurement filter; near-far object tracking; open-loop pursuit scenario; probabilistic data association; sensor resolution; Azimuth; Context modeling; Filtering algorithms; Image processing; Matched filters; Nonlinear filters; Pattern matching; Personal digital assistants; Scattering; Target tracking; Gaussian mixture; Target tracking; data association; extended object; sensor resolution;
Conference_Titel :
Information Fusion, 2005 8th International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-9286-8
DOI :
10.1109/ICIF.2005.1591874