Title :
On the use of multiple measurement models for extended target tracking
Author :
Granstrom, Karl ; Lundquist, Christian
Author_Institution :
Dept. of Electr. Eng., Linkoping Univ., Linkoping, Sweden
Abstract :
This paper considers extended targets that have constant extension shapes, but generate measurements whose appearance can change abruptly. The problem is approached using multiple measurement models, where each model corresponds to a measurement appearance mode. Mode transitions are modeled as dependent on the extended target kinematic state, and a multiple model extended target PHD filter is used to handle multiple targets with multiple appearance modes. The extended target tracking is evaluated using real world data where a laser range sensor is used to track multiple bicycles.
Keywords :
bicycles; filtering theory; laser ranging; sensor fusion; target tracking; extended target kinematic state; extended target tracking; laser range sensor; measurement appearance mode; multiple appearance modes; multiple bicycles tracking; multiple measurement models; multiple model extended target PHD filter; Bicycles; Kinematics; Laser modes; Length measurement; Shape; Shape measurement; Target tracking;
Conference_Titel :
Information Fusion (FUSION), 2013 16th International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-605-86311-1-3