Tracking Ground Targets with a Road Constraint Using a GMPHD Filter

The Gaussian mixture probability hypothesis density (GMPHD) filter is applied to the problem of tracking ground moving targets in clutter due to its excellent multitarget tracking performance, such as avoiding measurement-to-track association, and its easy implementation. For the existing GMPHD-base...

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Veröffentlicht in:Sensors (Basel, Switzerland) Jg. 18; H. 8; S. 2723
Hauptverfasser: Zheng, Jihong, Gao, Meiguo
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Switzerland MDPI AG 18.08.2018
MDPI
Schlagworte:
Algorithms
cardinalized PHD filter
Control theory
Coordinate transformations
directional process noise
Game theory
Gaussian mixture probability hypothesis density filter
ground moving target tracking
Hypotheses
International conferences
labeled multi-Bernoulli filter
Sensors
state constraint
Beijing China
China
state constraint
Gaussian mixture probability hypothesis density filter
cardinalized PHD filter
labeled multi-Bernoulli filter
ground moving target tracking
directional process noise
ISSN:1424-8220, 1424-8220
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Zusammenfassung:The Gaussian mixture probability hypothesis density (GMPHD) filter is applied to the problem of tracking ground moving targets in clutter due to its excellent multitarget tracking performance, such as avoiding measurement-to-track association, and its easy implementation. For the existing GMPHD-based ground target tracking algorithm (the GMPHD filter incorporating map information using a coordinate transforming method, CT-GMPHD), the predicted probability density of its target state is given in road coordinates, while its target state update needs to be performed in Cartesian ground coordinates. Although the algorithm can improve the filtering performance to a certain extent, the coordinate transformation process increases the complexity of the algorithm and reduces its computational efficiency. To address this issue, this paper proposes two non-coordinate transformation roadmap fusion algorithms: directional process noise fusion (DNP-GMPHD) and state constraint fusion (SC-GMPHD). The simulation results show that, compared with the existing algorithms, the two proposed roadmap fusion algorithms are more accurate and efficient for target estimation performance on straight and curved roads in a cluttered environment. The proposed methods are additionally applied using a cardinalized PHD (CPHD) filter and a labeled multi-Bernoulli (LMB) filter. It is found that the PHD filter performs less well than the CPHD and LMB filters, but that it is also computationally cheaper.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s18082723