Multitarget tracking with IP reversible jump MCMC-PF

Melanie Bocquel, Hans Driessen, Arunabha Bagchi

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    2 Citations (Scopus)

    Abstract

    In this paper we address the problem of tracking multiple targets based on raw measurements by means of Particle filtering. Bayesian multitarget tracking, in the Random Finite Set framework, propagates the multitarget posterior density recursively in time. Sequential Monte Carlo (SMC) approximations of the optimal filter are computationally expensive and lead to high-variance estimates as the number of targets increases. We present an extension of the Interacting Population-based MCMC-PF (IP-MCMC-PF) [1]. This extension exploits reversible jumps. Incorporation of Reversible Jump MCMC (RJMCMC) [2] methods into a tracking framework gives the possibility to deal with multiple appearing and disappearing targets, and makes the statistical inference more tractable. In our case, the technique is adopted to efficiently solve the high-dimensional state estimation problem, where the estimation of the existence and positions of many targets from a sequence of noisy measurements is required. Simulation analyses demonstrate that the proposed IP-RJMCMC-PF yields higher consistency, accuracy and reliability in multitarget tracking.
    Original languageUndefined
    Title of host publicationProceedings of the 16th International Conference on Information Fusion (Fusion 2013)
    Place of PublicationUSA
    PublisherIEEE CONTROL SYSTEMS SOCIETY
    Pages556-563
    Number of pages8
    ISBN (Print)978-605-86311-1-3
    Publication statusPublished - 2013
    Event16th International Conference on Information Fusion, FUSION 2013 - Askeri Museum, Istanbul, Turkey
    Duration: 9 Jul 201312 Jul 2013
    Conference number: 16

    Publication series

    Name
    PublisherIEEE Control Systems Society

    Conference

    Conference16th International Conference on Information Fusion, FUSION 2013
    Abbreviated titleFUSION 2013
    CountryTurkey
    CityIstanbul
    Period9/07/1312/07/13

    Keywords

    • EWI-24085
    • METIS-300212
    • IR-88243

    Cite this