随机有限集研究报告.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 this closed form solution in action. What I’m going to show you is a scenario where we have targets moving in a given region shown by a blue cross. The measurements received by the filter are shown by black crosses and you’ll see that we can’t distinguish which measurement came from where. The filter estimate is shown in red. On the right you’ll see a histogram of the posterior intensity showing how well the closed form Gaussian mixture implementation performs. Here we’ll actually have a total of 10 targets on the scene at any one time. Well I’m getting a bit bored of equations, so I’d like to show this closed form solution in action. What I’m going to show you is a scenario where we have targets moving in a given region shown by a blue cross. The measurements received by the filter are shown by black crosses and you’ll see that we can’t distinguish which measurement came from where. The filter estimate is shown in red. On the right you’ll see a histogram of the posterior intensity showing how well the closed form Gaussian mixture implementation performs. Here we’ll actually have a total of 10 targets on the scene at any one time. I will then present finite sets stats-a stat tool derived from RS for attacking MS MT tracking. I will then present finite sets stats-a stat tool derived from RS for attacking MS MT tracking. I will then present finite sets stats-a stat tool derived