Title :
A nonconvex cost optimization approach to tracking multiple targets
Author :
Rose, Kenneth ; Gurewitz, Eitan ; Fox, Geoffrey
Author_Institution :
Caltech Concurrent Comput. Program, California Inst. of Technol., Pasadena, CA, USA
Abstract :
The problem of tracking multiple targets in the presence of displacement noise and clutter is formulated as a nonconvex optimisation problem. The form of the suggested cost function is shown to be suitable for the graduated nonconvexity algorithm, which can be viewed as deterministic annealing. The method is first derived for the two-dimensional (spatial/temporal) case, and then generalized to the multidimensional case. The complexity grows linearly with the number of targets. Computer simulations show the performance with crossing trajectories
Keywords :
clutter; computational complexity; optimisation; parallel algorithms; pattern recognition; tracking; clutter; computational complexity; deterministic annealing; displacement noise; graduated nonconvexity algorithm; multiple targets tracking; nonconvex cost optimization; parallel algorithms; Annealing; Concurrent computing; Cost function; Curve fitting; Noise reduction; Postal services; State estimation; Target tracking; Time measurement; Trajectory;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262365
