Extended Target Tracking Using a Gaussian-Mixture PHD Filter
2012 (English)In: IEEE Transactions on Aerospace and Electronic Systems, ISSN 0018-9251, Vol. 48, no 4, 3268-3286 p.Article in journal (Refereed) Published
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
2012. Vol. 48, no 4, 3268-3286 p.
Target tracking, Extended target, PHD filter, Random set, Gaussian-mixture, Laser sensor
Signal Processing Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-71866DOI: 10.1109/TAES.2012.6324703ISI: 000309865600030OAI: oai:DiVA.org:liu-71866DiVA: diva2:454802
FunderSwedish Foundation for Strategic Research Swedish Research Council