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Multiple Object Tra...
Multiple Object Trajectory Estimation Using Backward Simulation
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- Xia, Yuxuan, 1993 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- Svensson, Lennart, 1976 (author)
- Chalmers tekniska högskola,Chalmers University of Technology
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- F. Garcia-Fernandez, Angel (author)
- University of Liverpool
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- L. Williams, Jason (author)
- Commonwealth Scientific and Industrial Research Organisation (CSIRO)
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Svensson, Daniel, 1979 (author)
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Granström, Karl, 1981 (author)
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(creator_code:org_t)
- 2022
- 2022
- English.
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In: IEEE Transactions on Signal Processing. - 1941-0476 .- 1053-587X. ; 70, s. 3249-3263
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https://doi.org/10.1...
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Abstract
Subject headings
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- This paper presents a general solution for computing the multi-object posterior for sets of trajectories from a sequence of multi-object (unlabelled) filtering densities and a multi-object dynamic model. Importantly, the proposed solution opens an avenue of trajectory estimation possibilities for multi-object filters that do not explicitly estimate trajectories. In this paper, we first derive a general multi-trajectory backward smoothing equation based on random finite sets of trajectories. Then we show how to sample sets of trajectories using backward simulation for Poisson multi-Bernoulli filtering densities, and develop a tractable implementation based on ranked assignment. The performance of the resulting multi-trajectory particle smoothers is evaluated in a simulation study, and the results demonstrate that they have superior performance in comparison to several state-of-the-art multi-object filters and smoothers.
Subject headings
- NATURVETENSKAP -- Matematik -- Sannolikhetsteori och statistik (hsv//swe)
- NATURAL SCIENCES -- Mathematics -- Probability Theory and Statistics (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Keyword
- backward simulation
- Trajectory
- Density measurement
- Mathematical models
- Electrical engineering
- random finite sets
- Probabilistic logic
- Multi-object tracking
- forward-backward smoothing
- sets of trajectories
- Smoothing methods
- Signal processing algorithms
Publication and Content Type
- art (subject category)
- ref (subject category)
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