Journal ArticleDOI
Von Mises Mixture PHD Filter
TLDR
This letter proposes a novel mixture approximation of the probability hypothesis density filter based on the von Mises distribution, thus constructing a method that globally captures the non-Euclidean nature of the state and the measurement space.Abstract:
This letter deals with the problem of tracking multiple targets on the unit circle, a problem that arises whenever the state and the sensor measurements are circular, i.e. angular-only, random variables. To tackle this problem, we propose a novel mixture approximation of the probability hypothesis density filter based on the von Mises distribution, thus constructing a method that globally captures the non-Euclidean nature of the state and the measurement space. We derive a closed-form recursion of the filter and apply principled approximations where necessary. We compared the performance of the proposed filter with the Gaussian mixture probability hypothesis density filter on a synthetic dataset of 100 randomly generated multitarget trajectory examples corrupted with noise and clutter, and on the PETS2009 dataset. We achieved respectively a decrease of 10.5% and 2.8% in the optimal subpattern assignement metric (notably 16.9% and 10.8% in the localization component).read more
Citations
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Journal ArticleDOI
The LOCATA Challenge: Acoustic Source Localization and Tracking
Christine Evers,Heinrich W. Lollmann,Heinrich Mellmann,Alexander Schmidt,Hendrik Barfuss,Patrick A. Naylor,Walter Kellermann +6 more
TL;DR: The LOCAlization and Tracking Challenge (LOCATA) as discussed by the authors is an open-access framework for the objective evaluation and benchmarking of broad classes of algorithms for sound source localization and tracking.
Journal ArticleDOI
The LOCATA Challenge: Acoustic Source Localization and Tracking.
Christine Evers,Heinrich Loellmann,Heinrich Mellmann,Alexander Schmidt,Hendrik Barfuss,Patrick A. Naylor,Walter Kellermann +6 more
TL;DR: The LOCAlization and Tracking Challenge (LOCATA) as discussed by the authors is an open-access framework for the objective evaluation and benchmarking of broad classes of algorithms for sound source localization and tracking.
Journal ArticleDOI
Substructural damage detection in shear structures via ARMAX model and optimal subpattern assignment distance
TL;DR: The application on nonlinear damage identification in a complex three-dimensional reinforced concrete structure shows the great potential of the proposed pole-based OSPA distance in multi-sensor information fusion of structural responses from different directions.
Journal ArticleDOI
DoA Reliability for Distributed Acoustic Tracking
TL;DR: This letter proposes to incorporate the coherent-to-diffuse ratio as a measure of DoA reliability for single-source tracking and shows that the source positions can be probabilistically triangulated by exploiting the spatial diversity of all nodes.
Journal ArticleDOI
Tracking Multiple Audio Sources With the von Mises Distribution and Variational EM
TL;DR: In this paper, the von Mises distribution is used to model audio-source directions of arrival with circular random variables, which leads to a Bayesian filtering formulation, which is intractable because of the combinatorial explosion of associating observed variables with latent variables.
References
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Journal ArticleDOI
An algorithm for tracking multiple targets
TL;DR: An algorithm for tracking multiple targets in a cluttered environment is developed, capable of initiating tracks, accounting for false or missing reports, and processing sets of dependent reports.
Journal ArticleDOI
Multitarget Bayes filtering via first-order multitarget moments
TL;DR: Recursion Bayes filter equations for the probability hypothesis density are derived that account for multiple sensors, nonconstant probability of detection, Poisson false alarms, and appearance, spawning, and disappearance of targets and it is shown that the PHD is a best-fit approximation of the multitarget posterior in an information-theoretic sense.
Book
Statistical Multisource-Multitarget Information Fusion
TL;DR: This comprehensive resource provides an in-depth understanding of finite-set statistics (FISST) - a recently developed method which unifies much of information fusion under a single probabilistic, in fact Bayesian, paradigm.
Journal ArticleDOI
The Gaussian Mixture Probability Hypothesis Density Filter
Ba-Ngu Vo,Wing-Kin Ma +1 more
TL;DR: Under linear, Gaussian assumptions on the target dynamics and birth process, the posterior intensity at any time step is a Gaussian mixture and closed-form recursions for propagating the means, covariances, and weights of the constituent Gaussian components of the posteriorintensity are derived.