Estimation and Maintenance of Measurement Rates for Multiple Extended Target Tracking
2012 (English)In: Proceedings of the International Conference on Information Fusion (FUSION), IEEE Press, 2012, 2170-2176 p.Conference paper (Refereed)
In Gilholm et al.'s extended target model, the number of measurements generated by a target is Poisson distributed with measurement rate γ. Practical use of this extended target model in multiple extended target tracking algorithms requires a good estimate of γ. In this paper, we first give a Bayesian recursion for estimating γ using the well-known conjugate prior Gamma-distribution. In multiple extended target tracking, consideration of different measurement set associations to a single target makes Gamma-mixtures arise naturally. This causes a need for mixture reduction, and we consider the reduction of Gamma-mixtures by means of merging. Analytical minimization of the Kullback-Leibler divergence is used to compute the single Gamma distribution that best approximates a weighted sum of Gamma distributions. Results from simulations show the merits of the presented multiple target measurement-rate estimator. The Bayesian recursion and presented reduction algorithm have important implications for multiple extended target tracking, e.g. using the implementations of the extended target PHD filter.
Place, publisher, year, edition, pages
IEEE Press, 2012. 2170-2176 p.
IdentifiersURN: urn:nbn:se:liu:diva-82001ISBN: 978-0-9824438-4-2 (online)ISBN: 978-1-4673-0417-7 (print)OAI: oai:DiVA.org:liu-82001DiVA: diva2:557427
15th International Conference on Information Fusion, July 9-12, Singapore