一種新的避免航跡合并的聯(lián)合綜合概率數(shù)據(jù)關(guān)聯(lián)濾波器

朱昀; 王俊; 陳剛; 郭帥

doi:10.11999/JEIT170085

一種新的避免航跡合并的聯(lián)合綜合概率數(shù)據(jù)關(guān)聯(lián)濾波器

doi: 10.11999/JEIT170085

朱昀¹,
王俊¹,
陳剛¹,
郭帥¹

基金項(xiàng)目:

國(guó)家自然科學(xué)基金(61401526)，國(guó)家部委共用技術(shù)基金(9140A07020614DZ01)

計(jì)量
- 文章訪問(wèn)數(shù): 1278
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- PDF下載量: 200
- 被引次數(shù): 0
出版歷程
- 收稿日期: 2017-01-23
- 修回日期: 2017-07-17
- 刊出日期: 2017-10-19

Novel Track Coalescence Avoiding Joint Integrated Probabilistic Data Association Filter

Funds:

The National Natural Science Foundation of China (61401526), The Foundation of National Ministries (9140A07020614DZ01)

摘要

摘要: 針對(duì)聯(lián)合綜合概率數(shù)據(jù)關(guān)聯(lián)算法(JIPDA)存在的航跡合并問(wèn)題，將目標(biāo)建模為隨機(jī)有限集(RFS)提出改進(jìn)的JIPDA算法。傳統(tǒng)JIPDA首先產(chǎn)生初始概率密度函數(shù)(PDF)，之后對(duì)該P(yáng)DF進(jìn)行近似來(lái)估計(jì)目標(biāo)狀態(tài)。為了使目標(biāo)狀態(tài)估計(jì)PDF與初始PDF之間的相似性最大化，當(dāng)目標(biāo)標(biāo)簽無(wú)意義時(shí)，提出對(duì)JIPDA的初始PDF進(jìn)行優(yōu)化。將KL散度作為相似性的衡量標(biāo)準(zhǔn)，建立起優(yōu)化過(guò)程的代價(jià)函數(shù)。仿真實(shí)驗(yàn)表明，所提方法可有效地抑制傳統(tǒng)JIPDA引起的航跡合并。
- 多目標(biāo)跟蹤 /
- 聯(lián)合綜合概率數(shù)據(jù)關(guān)聯(lián) /
- 隨機(jī)有限集
Abstract: To avoid the track coalescence of the Joint Integrated Probabilistic Data Association (JIPDA), a modified version of JIPDA is proposed by modelling targets as Random Finite Set (RFS). The JIPDA first generates the original Probability Density Function (PDF) and then makes an approximation of the PDF to estimate target states. To maximize the similarity between the state estimate PDF and the original PDF, the original PDF is optimized when target label is irrelevant. Using the KL divergence as a measure of the similarity, the cost function is developed. The experimental results show that the proposed method can effectively avoid the track coalescence.
- Multi-target tracking /
- Joint Integrated Probabilistic Data Association (JIPDA) /
- Random Finite Set (RFS)

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參考文獻(xiàn)(18)

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