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An improved multi-target tracking algorithm based on CBMeMBer filter and variational Bayesian approximation
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DOI：10.1016/j.sigpro.2013.03.027.png)
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Abstract
En 中文
Random finite set (RFS) filters have been demonstrating a promising algorithm for tracking an unknown number of targets in real time. However, these methods can only be used in the multi-target tracking systems with known measurement noise variances; otherwise, their tracking performances will decline greatly. To solve this problem, an improved multi-target tracking algorithm is proposed based on the cardinality-balanced multi-target multi-Bernoulli (CBMeMBer) filter and the variational Bayesian (VB) approximation technique to recursively estimate the joint posterior distributions of the multi-target states and the time-varying measurement noise variances. First, the variational calculus method is employed to derive the multi-target estimate recursions, and then the Gaussian and inverse Gamma mixture distributions are introduced to approximate the joint posterior density, and achieve a Gaussian closed-form solution. Simulation results show that the proposed algorithm can effectively estimate the unknown measurement noise variances and has a good performance of multi-target tracking with a strong robustness. (c) 2013 Elsevier B.V. All rights reserved.
Keywords:
Target tracking
Multi-target multi-Bernoulli filter
Variational Bayesian
Inverse Gamma distribution
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