Extended Target Tracking using a Gaussian-Mixture PHD Filter
2011 (English)Report (Other academic)
This paper presents a Gaussian-mixture implementation of the phd filter for tracking extended targets. The exact filter requires processing of all possible measurement set partitions, which is generally infeasible to implement. A method is proposed for limiting the number of considered partitions and possible alternatives are discussed. The implementation is used on simulated data and in experiments with real laser data, and the advantage of the filter is illustrated. Suitable remedies are given to handle spatially close targets and target occlusion.
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2011.
LiTH-ISY-R, ISSN 1400-3902 ; 3028
Target tracking, Extended target, PHD filter, Random set, Gaussian-mixture, Laser sensor
IdentifiersURN: urn:nbn:se:liu:diva-97972ISRN: LiTH-ISY-R-3028OAI: oai:DiVA.org:liu-97972DiVA: diva2:650870
FunderSwedish Foundation for Strategic Research Swedish Research Council