CPHD filtering with unknown clutter rate and detection profile

Author

Mahler, Ronald P S ; Vo, Ba Tuong ; Vo, Ba Ngu

Author_Institution

MS2 Tactical Syst., Adv. Technol. Group, Lockheed Martin, Eagan, MN, USA

fYear

2011

fDate

5-8 July 2011

Firstpage

1

Lastpage

8

Abstract

In Bayesian multi-target filtering we have to contend with two notable sources of uncertainty, clutter and detection. Knowledge of parameters such as clutter rate and detection profile are of critical importance in multi-target filters such as the probability hypothesis density (PHD) and Cardinalized PHD (CPHD) filters. Naive application of the CPHD (and PHD) filter with mismatches in clutter and detection model parameters results in biased estimates. In this paper we show how to use the CPHD (and PHD) filter in unknown clutter rate and detection profile.

Keywords

Bayes methods; clutter; filtering theory; object detection; target tracking; Bayesian multitarget filtering; CPHD filtering; cardinalized PHD filters; detection profile; probability hypothesis density filter; unknown clutter rate; Approximation methods; Clutter; Filtering; Generators; Markov processes; Probability; Time measurement; CPHD; PHD; finite set statistics; multi-target tracking; parameter estimation; robust filtering;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Fusion (FUSION), 2011 Proceedings of the 14th International Conference on

Conference_Location

Chicago, IL

Print_ISBN

978-1-4577-0267-9

Type

conf

Filename

5977596