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The problem of single-sensor bearings-only tracking continues to present challenges to tracking algorithms, particularly in certain difficult scenarios such as ones with high bearing rates. In such scenarios, the performance of the recently introduced shifted Rayleigh filter (SRF) is compared with that of other techniques such as extended Kalman filter (EKF), unscented Kalman filter (UKF) and particle...
Based on the concept of sequential importance sampling (SIS) and the use of Bayesian theory, particle filter is particularly useful in dealing with nonlinear and non-Gaussian problems. In this paper, a new particle filter is proposed that uses a divided difference filter to generate the importance proposal distribution is proposed. The proposal distribution integrates the latest measurements into...
The interacting multiple model (IMM) algorithm is a widely accepted state estimation scheme for solving maneuvering target tracking problems, which are generally nonlinear. During the IMM filtering process, serious errors can arise when a Gaussian mixture of posterior probability density functions is approximated by a single Gaussian. Particle filters (PFs) are effective in dealing with nonlinearity...
In this paper a novel multiple model particle filter algorithm for tracking ground targets on constrained paths is developed The algorithm is designed to let the different modes be represented by constrained likelihood models, whereas the state dynamics are the same for all models. The mixing procedure is performed over the likelihood models and the mixing parameters are calculated in a standard interacting...
In this paper we will consider several algorithms for tracking closely spaced objects. In particular we will concentrate on various particle filter implementations. One particular problem when using a joint multi target particle filter is the so-called mixed labelling problem. This problem amounts to the fact that different particles will have a different labelling w.r.t. target identity. The combination...
The paper presents an algorithm for detection and a subsequent information gain driven search for an unaccounted point source of relatively low-level gamma radiation. Source detection and parameter estimation are carried out jointly in the Bayesian framework using a particle filter. The observer control vector consists of the next sensor location and the exposure time. During the pre-detection search,...
Data assimilation in the context of puff based dispersion models is studied. A representative two dimensional Gaussian puff atmospheric dispersion model is used for the purpose of testing and comparing several data assimilation techniques. A continuous nonlinear observation model, and a quantized probabilistic nonlinear observation model, are used to simulate the measurements. The quantized model...
The idea of particle filter is to represent probability density function (PDF) of nonlinear/non-Gaussian system by a set of random samples. One of the key issue of particle filter is the proposal distribution. In this paper, the iterated unscented Kalman filter (IUKF) is used to generate the proposal distribution for particle filter. The proposal distributions integrate the current observation, thus...
The paper presents a spatial-color model of object and develops an efficient visual tracking algorithm based on particle filter. This spatial-color model captures richer information than the general color histogram because it incorporates spatial distribution of pixels in addition to color. In order to fast compute the weight of each particle, the Integral Images for computation of histogram, mean...
In this paper a comparison is made between a sensor selection algorithm (SSA) based on the modified Riccati equation (MRE) on the one hand, and a random sensor selection (RSS) or a fixed sensor selection (FSS) scheme on the other hand. The goal is to investigate the benefits the MRE SSA yields compared to the other selection schemes. The MRE SSA is capable of handling sensors with probability of detection...
Smart Spaces are an emerging technology which is gathering interest in several domains of application since they allow to supply services and to interact with users in a pervasive way. One of their basic tasks regards the localization of the users in order to provide services in a personalized and location- based way. However since the guarded area is usually complex (e.g. with occlusions) and extent...
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