Marginal multi-Bernoulli filters: RFS derivation of MHT, JIPDA and association-based MeMBer
In: IEEE Transactions on Aerospace and Electronic Systems, vol 51, no 3, pp 1664-1687, July 2015; (2012)
Online
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Recent developments in random finite sets (RFSs) have yielded a variety of tracking methods that avoid data association. This paper derives a form of the full Bayes RFS filter and observes that data association is implicitly present, in a data structure similar to MHT. Subsequently, algorithms are obtained by approximating the distribution of associations. Two algorithms result: one nearly identical to JIPDA, and another related to the MeMBer filter. Both improve performance in challenging environments.
Comment: Journal version at http://ieeexplore.ieee.org/document/7272821. Matlab code of simple implementation included with ancillary files
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Marginal multi-Bernoulli filters: RFS derivation of MHT, JIPDA and association-based MeMBer
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Autor/in / Beteiligte Person: | Williams, Jason L. |
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Quelle: | IEEE Transactions on Aerospace and Electronic Systems, vol 51, no 3, pp 1664-1687, July 2015; (2012) |
Veröffentlichung: | 2012 |
Medientyp: | report |
DOI: | 10.1109/TAES.2015.130550 |
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