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Extended Target Tracking using a Gaussian-Mixture PHD Filter
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.ORCID iD: 0000-0002-3450-988X
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2011 (English)Report (Other academic)
Abstract [en]

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.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 3028
Keyword [en]
Target tracking, Extended target, PHD filter, Random set, Gaussian-mixture, Laser sensor
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-97972ISRN: LiTH-ISY-R-3028OAI: oai:DiVA.org:liu-97972DiVA: diva2:650870
Projects
CADICSETTCUAS
Funder
Swedish Foundation for Strategic Research Swedish Research Council
Available from: 2013-09-23 Created: 2013-09-23 Last updated: 2014-08-07Bibliographically approved

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Authority records BETA

Granström, KarlLundquist, Christian

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf