Multi Target Tracking with Acoustic Power Measurements using Emitted Power Density
2010 (English)In: Proceedings of the 13th International Conference on Information Fusion, 2010Conference paper (Refereed)
This paper presents a method to achieve multi target tracking using acoustic power measurements obtained from an acoustic sensor network. We first present a novel concept called emitted power density (EPD) which is an aggregate information state that holds the emitted power distribution of all targets in the scene over the target state space. It is possible to find prediction and measurement update formulas for an EPD which is conceptually similar to a probability hypothesis density (PHD). We propose a Gaussian process based representation for making the related EPD updates using Kalman filter formulas. These updates constitute a recursive EPD-filter 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
Multiple target tracking, Filtering, Estimation, Acoustic sensor, Power, Point mass filter, Gaussian process, Probability hypothesis density
IdentifiersURN: urn:nbn:se:liu:diva-63103ISBN: 978-0-9824438-1-1OAI: oai:DiVA.org:liu-63103DiVA: diva2:376434
13th International Conference on Information Fusion, Edinburgh, United Kingdom, 26-29 July, 2010
FunderSwedish Research CouncilSwedish Foundation for Strategic Research