Multi Target Tracking with Acoustic Power Measurements using Emitted Power Density
2010 (English)Report (Other academic)
This technical report presents a method to achieve multi target tracking using acoustic power measurements obtained from an acoustic sensor net- work. We rst present a novel concept called emitted power density (EPD) which is an aggregate information state that holds emitted power distribution of all targets in the scene over the target state space. It is possible tond prediction and measurement update formulas for an EPD which is con- ceptually similar to a probability hypothesis density (PHD). We propose a Gaussian process based representation for making the related EPD updates using Kalman lter formulas. These updates constitute a recursive EPD-lter which is based on the discretization of the position component of the target state space. The results are illustrated on a real data scenario where experiments are done with two targets constrained to a road segment.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2010. , 25 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2947
Multiple target tracking, Filtering, Estimation, Acoustic sensor, Power, Point mass filter, Gaussian process, Probability hypothesis density
IdentifiersURN: urn:nbn:se:liu:diva-97592ISRN: LiTH-ISY-R-2947OAI: oai:DiVA.org:liu-97592DiVA: diva2:649221
FunderSwedish Research CouncilSwedish Foundation for Strategic Research