Gating Techniques for Rao-Blackwellized Monte Carlo Data Association Filter

This paper studies the Rao-Blackwellized Monte Carlo data association (RBMCDA) filter for multiple target tracking. The elliptical gating strategies are redesigned and incorporated into the framework of the RBMCDA filter. The obvious benefit is the reduction of the time cost because the data associa...

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Main Authors: Yazhao Wang, Peini Zhang
Format: Article
Language:English
Published: Wiley 2014-01-01
Series:The Scientific World Journal
Online Access:http://dx.doi.org/10.1155/2014/960857
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author Yazhao Wang
Peini Zhang
author_facet Yazhao Wang
Peini Zhang
author_sort Yazhao Wang
collection DOAJ
description This paper studies the Rao-Blackwellized Monte Carlo data association (RBMCDA) filter for multiple target tracking. The elliptical gating strategies are redesigned and incorporated into the framework of the RBMCDA filter. The obvious benefit is the reduction of the time cost because the data association procedure can be carried out with less validated measurements. In addition, the overlapped parts of the neighboring validation regions are divided into several separated subregions according to the possible origins of the validated measurements. In these subregions, the measurement uncertainties can be taken into account more reasonably than those of the simple elliptical gate. This would help to achieve higher tracking ability of the RBMCDA algorithm by a better association prior approximation. Simulation results are provided to show the effectiveness of the proposed gating techniques.
format Article
id doaj-art-0dfff2dcc1ac44f0bd9b4545ab06e7bd
institution Kabale University
issn 2356-6140
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language English
publishDate 2014-01-01
publisher Wiley
record_format Article
series The Scientific World Journal
spelling doaj-art-0dfff2dcc1ac44f0bd9b4545ab06e7bd2025-02-03T01:10:06ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/960857960857Gating Techniques for Rao-Blackwellized Monte Carlo Data Association FilterYazhao Wang0Peini Zhang1The Department of Systems and Control, Beihang University (BUAA), Beijing 100191, ChinaSchool of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing 100083, ChinaThis paper studies the Rao-Blackwellized Monte Carlo data association (RBMCDA) filter for multiple target tracking. The elliptical gating strategies are redesigned and incorporated into the framework of the RBMCDA filter. The obvious benefit is the reduction of the time cost because the data association procedure can be carried out with less validated measurements. In addition, the overlapped parts of the neighboring validation regions are divided into several separated subregions according to the possible origins of the validated measurements. In these subregions, the measurement uncertainties can be taken into account more reasonably than those of the simple elliptical gate. This would help to achieve higher tracking ability of the RBMCDA algorithm by a better association prior approximation. Simulation results are provided to show the effectiveness of the proposed gating techniques.http://dx.doi.org/10.1155/2014/960857
spellingShingle Yazhao Wang
Peini Zhang
Gating Techniques for Rao-Blackwellized Monte Carlo Data Association Filter
The Scientific World Journal
title Gating Techniques for Rao-Blackwellized Monte Carlo Data Association Filter
title_full Gating Techniques for Rao-Blackwellized Monte Carlo Data Association Filter
title_fullStr Gating Techniques for Rao-Blackwellized Monte Carlo Data Association Filter
title_full_unstemmed Gating Techniques for Rao-Blackwellized Monte Carlo Data Association Filter
title_short Gating Techniques for Rao-Blackwellized Monte Carlo Data Association Filter
title_sort gating techniques for rao blackwellized monte carlo data association filter
url http://dx.doi.org/10.1155/2014/960857
work_keys_str_mv AT yazhaowang gatingtechniquesforraoblackwellizedmontecarlodataassociationfilter
AT peinizhang gatingtechniquesforraoblackwellizedmontecarlodataassociationfilter