The Rao-Blackwellized marginal M-SMC filter for Bayesian multi-target tracking and labelling

E.H. Aoki, Y. Boers, L. Svensson, Pranab K. Mandal, Arunabha Bagchi

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

    4 Citations (Scopus)


    In multi-target tracking (MTT), we are often interested not only in finding the position of the objects, but also allowing individual objects to be uniquely identified with the passage of time, by placing a label on each track. In some situations, however, observability conditions do not allow us to maintain the consistency in the correspondence between track labels and true objects. In this situation, it may be useful for the operator to know the probability of loss of this consistency, i.e. the probability of labelling error. This is theoretically possible using Bayesian multi-target tracking approaches like the Multi-target Sequential Monte Carlo (M-SMC) and the Multiple Hypothesis Tracking (MHT) filters, but unfortunately, it is well-known that these methods suffer from a form of degeneracy known as “self-resolving‿, that causes the probability of labelling error to be severely underestimated. In this paper, we propose a new Sequential Monte Carlo algorithm for the multi-target tracking and labelling (MTTL) problem, the Rao-Blackwellized marginal M-SMC filter, that deals with self-resolving and is valid for multi-target scenarios with unknown/varying number of targets.
    Original languageUndefined
    Title of host publicationProceedings of the 15th International Conference on Information Fusion (FUSION 2012)
    Place of PublicationSingapore
    Number of pages8
    ISBN (Print)978-1-4673-0417-7
    Publication statusPublished - Jul 2012
    Event15th International Conference on Information Fusion, FUSION 2012 - Singapore, Singapore, Singapore
    Duration: 9 Jul 201212 Jul 2012
    Conference number: 15

    Publication series

    PublisherIEEE Xplore


    Conference15th International Conference on Information Fusion, FUSION 2012
    Abbreviated titleFUSION 2012
    Other9-12 July 2012


    • EWI-22619
    • METIS-296160
    • IR-82546

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