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In this paper a novel consistency-based Gaussian mixture nonlinear filter (CbGMF) is proposed where the distribution of the target state is represented by a dynamic set (mixture) of Gaussian distributions (???subtracks???). The subtracks are generated using a consistency-based filtering rule for the EKF and a novel approach for consistent track splitting. Simulation results show that the CbGMF has...
Track-to-track fusion using estimates from multiple sensors can achieve better estimation performance than a single sensor. If the local sensors use different system models in different state spaces, the problem of heterogeneous track-to-track fusion arises. Compared with homogeneous track-to-track fusion that assumes the same system model for different sensors, the heterogeneous case poses two major...
The contact lens problem in tracking has severe measurement nonlinearity that will cause consistency problems and large errors for existing nonlinear filtering techniques including the EKF, the UKF and the particle filter. In our previous work, the proposed measurement covariance adaptive (MCA) extended Kalman filter (MCAEKF) was shown to be consistent and have superior tracking accuracy. The only...
The original MeanShift algorithm uses color histogram as the target feature and does not take the objectives of spatial information into account. Therefore, there are some stability problems under the complex background. It leads to target losing easily. A new tracking algorithm named weighted mean of the centroids is proposed in the paper. In order to improve the robust of tracking process, the weighted...
This paper proposes a Novel filtering algorithm for the general contact lens problem, where the measurement uncertainty region takes a thin, curved, contact lens-like shape in the states' Cartesian coordinates. Such problems have severe measurement nonlin-earity and will lead to consistency problems for existing nonlinear filtering techniques such as the extended Kalman filter (EKF) and the unscented...
This paper discusses three algorithms for the problem of asynchronous Track-to-Track Fusion (AT2TF) with track delays, where the information configuration of T2TF with partial information feedback (AT2TFpf) is used. This is the most practical configuration for AT2TF with time delays, since communication delays make full information feedback very complicated. The first algorithm is the optimal memoryless...
In this paper the exact algorithms for track-to-track fusion (T2TF) which can operate at an arbitrary rate for various information configurations are investigated. First, the exact algorithms for T2TF without memory (T2TFwoM) are presented for three information configurations: with no, partial and full information feedback from the fusion center (FC) to the local trackers. As one major contribution...
Track-to-track association (T2TA) is very important in distributed tracking systems. When the fusion center receives multiple tracks from a local tracker, T2TA needs to be performed before track-to-track fusion (T2TF). The problem of T2TA, similar to measurement-to-track association, can be formulated and solved as an assignment problem, whose costs are based on the likelihood of assigning a local...
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