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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2019
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/1901.04518 |
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| _version_ | 1866910753057931264 |
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| author | Fröhle, Markus Granström, Karl Wymeersch, Henk |
| author_facet | Fröhle, Markus Granström, Karl Wymeersch, Henk |
| contents | A decentralized Poisson multi-Bernoulli filter is proposed to track multiple vehicles using multiple high-resolution sensors. Independent filters estimate the vehicles' presence, state, and shape using a Gaussian process extent model; a decentralized filter is realized through fusion of the filters posterior densities. An efficient implementation is achieved by parametric state representation, utilization of single hypothesis tracks, and fusion of vehicle information based on a fusion mapping. Numerical results demonstrate the performance. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_1901_04518 |
| institution | arXiv |
| publishDate | 2019 |
| record_format | arxiv |
| spellingShingle | Decentralized Poisson Multi-Bernoulli Filtering for Vehicle Tracking Fröhle, Markus Granström, Karl Wymeersch, Henk Multiagent Systems Systems and Control A decentralized Poisson multi-Bernoulli filter is proposed to track multiple vehicles using multiple high-resolution sensors. Independent filters estimate the vehicles' presence, state, and shape using a Gaussian process extent model; a decentralized filter is realized through fusion of the filters posterior densities. An efficient implementation is achieved by parametric state representation, utilization of single hypothesis tracks, and fusion of vehicle information based on a fusion mapping. Numerical results demonstrate the performance. |
| title | Decentralized Poisson Multi-Bernoulli Filtering for Vehicle Tracking |
| topic | Multiagent Systems Systems and Control |
| url | https://arxiv.org/abs/1901.04518 |