A generic particle filtering approach for multiple polyhedral object tracking in a distributed active sensor network

This paper presents a method for multi-target tracking in a multisensor system composed of several distributed active sensors (rangefinders). The final goal is to deliver a complete reconstruction of the environment of a vehicle. The originality of this work relies on the joint exploitation of geometric invariance properties of objects avoiding any loss of optimality and on an efficient management of transitions when the objects of interest move from one field-of-view to another.