The single-group PHD filter: An analytic solution

Author

Swain, Anthony ; Clark, Daniel

Author_Institution

EECE EPS, Heriot Watt Univ., Edinburgh, UK

fYear

2011

fDate

5-8 July 2011

Firstpage

1

Lastpage

8

Abstract

In many group target tracking scenarios, a collection of targets move in a correlated manner as part of a formation, such as a convoy of vehicles. The focus of this paper is in the estimation of the evolution over time of a single-group of targets, referred to as a single-cluster, based on a sequence of partial observation sets. Based on Finite Set Statistics, the paper presents a first-moment recursion for a single-group filter and an analytic solution under linear-Gaussian assumptions. The method is demonstrated on simulated data in a cluttered environment.

Keywords

Gaussian distribution; clutter; statistical analysis; target tracking; tracking filters; analytic solution; cluttered environment; finite set statistics; first-moment recursion; linear-Gaussian assumptions; partial observation sets; probability hypothesis density filter; single-cluster; single-group PHD filter; target collection; target tracking; Analytical models; Approximation methods; Covariance matrix; Joints; Predictive models; Target tracking; Vehicles; Finite Set Statistics; Gaussian mixture; PHD filters; cluster processes;

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

5977693