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This paper addresses the problem of including the non-standard information given by hard constraints in a particle filter for target tracking. The methods previously available for including this information work well in most cases. However, there are situations when the performance of these methods can deteriorate. To this end, a new method, built on proposal distributions adapted to the constraints,...
This paper addresses the problem of tracking targets in the presence of spatial constraints, typically in ground or littoral environments. It has been observed that manned targets move in a way avoiding constraints, e.g. roadsides. For best tracking accuracy and reliability, especially in cases of sparse measurements, this fact ought to be reflected in the dynamic equations of motion. We develop a...
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