Performance Bound for Extended Target Tracking Using High Resolution Sensors

Performance Bound for Extended Target Tracking Using High Resolution Sensors

This article concerns the problem of the estimation bound for tracking an extended target observed by a high resolution sensor. Two types of commonly used models for extended targets and the corresponding posterior Cramer-Rao lower bound (PCRLB) are discussed. The first type is the equation-extension model which extends the state space to include parameters such as target size and shape. Thus, ...

Target Tracking by Using Seismic Sensors

Multiple Target Tracking with Multiple Finite Resolution Sensors

In this paper tracking multiple targets with multiple finite-resolution sensors is presented with emphasis on the measurement-to-track association with possibly unresolved measurements. Two data association algorithms are considered. The multiple scan data association problem is first formulated as a multidimensional assignment problem with explicit new constraints for the unresolved measuremen...

Extended target tracking using PHD filters

The world in which we live is becoming more and more automated, exemplified by the numerous robots, or autonomous vehicles, that operate in air, on land, or in water. These robots perform a wide array of different tasks, ranging from the dangerous, such as underground mining, to the boring, such as vacuum cleaning. In common for all different robots is that they must possess a certain degree of...

Omnidirectional sensors cooperation for multi-target tracking

Abstract In this paper, we present a multi-sensor cooperation paradigm between an omnidirectional vision system and a panoramic range finder system, using to localize dynamically a mobile robot. These two sensors provide some complementary data which enable us to build a robust sensorial model which integrates an important number of significant primitives. Based on this model we treat the probl...