Multiple Resolvable Group Estimation Based on the GLMB Filter with Graph Structure

In this paper, we focus on multiple resolvable group target tracking in the framework of labeled random finite sets. The original GLMB cannot be used for multiple resolvable group tracking due to the dependence of targets in the group. We describe the collaboration noise. random finite set and then given the state predict and update for a resolvable group target. Further, the δ-GLMB filter recursion for the resolvable group targets is proposed. Our research shows that the original GLMB filter can be improved and give a better results. A simulation is provided to verify the proposed algorithm.

[1]  Ba-Ngu Vo,et al.  Labeled Random Finite Sets and the Bayes Multi-Target Tracking Filter , 2013, IEEE Transactions on Signal Processing.

[2]  Marcus Obst,et al.  Tracking multiple extended objects — A Markov chain Monte Carlo approach , 2011, 14th International Conference on Information Fusion.

[3]  Ronald P. S. Mahler,et al.  Advances in Statistical Multisource-Multitarget Information Fusion , 2014 .

[4]  Weifeng Liu,et al.  Multiple group targets tracking using the Generalized Labeled Multi-Bernoulli Filter , 2016, CCC 2016.

[5]  X. Rong Li,et al.  Tracking of Maneuvering Non-Ellipsoidal Extended Object or Target Group Using Random Matrix , 2014, IEEE Transactions on Signal Processing.

[6]  Ronald P. S. Mahler,et al.  PHD filters for nonstandard targets, II: Unresolved targets , 2009, 2009 12th International Conference on Information Fusion.

[7]  Klaus C. J. Dietmayer,et al.  The Labeled Multi-Bernoulli Filter , 2014, IEEE Transactions on Signal Processing.

[8]  Ba-Ngu Vo,et al.  An Efficient Implementation of the Generalized Labeled Multi-Bernoulli Filter , 2016, IEEE Transactions on Signal Processing.

[9]  Ronald P. S. Mahler,et al.  PHD filters for nonstandard targets, I: Extended targets , 2009, 2009 12th International Conference on Information Fusion.

[10]  W. Koch,et al.  Multiple hypothesis track maintenance with possibly unresolved measurements , 1997, IEEE Transactions on Aerospace and Electronic Systems.

[11]  Uwe D. Hanebeck,et al.  Extended object and group tracking with Elliptic Random Hypersurface Models , 2010, 2010 13th International Conference on Information Fusion.

[12]  Ba-Ngu Vo,et al.  Multiple Extended Target Tracking With Labeled Random Finite Sets , 2015, IEEE Transactions on Signal Processing.

[13]  Uwe D. Hanebeck,et al.  Shape tracking of extended objects and group targets with star-convex RHMs , 2011, 14th International Conference on Information Fusion.

[14]  Christian Lundquist,et al.  Extended target tracking with a cardinalized probability hypothesis density filter , 2011, 14th International Conference on Information Fusion.

[15]  Chenglin Wen,et al.  Structure modeling and estimation of multiple resolvable group targets via graph theory and multi-Bernoulli filter , 2018, Autom..

[16]  Ba-Ngu Vo,et al.  Labeled Random Finite Sets and Multi-Object Conjugate Priors , 2013, IEEE Transactions on Signal Processing.

[17]  Branko Ristic,et al.  Bernoulli filter for joint detection and tracking of an extended object in clutter , 2013 .