随机有限集解析.ppt

Random Set/Point Process in Multi-Target Tracking The Bayes (single-target) filter Multi-target tracking System representation Random finite set Bayesian Multi-target filtering Tractable multi-target filters Probability Hypothesis Density (PHD) filter Cardinalized PHD filter Multi-Bernoulli filter Conclusions Error between estimate and true state (miss-distance) fundamental in estimation/filtering control well-understood for single target: Euclidean distance, MSE, etc in the multi-target case: depends on state representation Well I’m getting a bit bored of equations, so I’d like to show thi