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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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/960857 |
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| _version_ | 1832564799754469376 |
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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 1537-744X |
| 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 |