
Under the Gaussian noise assumption, the probability hypothesis density (PHD) filter represents a promising tool for tracking a group of moving targets with a time-varying number. However, inaccurate prior statistics of the random noise will degrade the performance of the PHD filter in many practical applications. This paper presents an adaptive Gaussian mixture PHD (AGM-PHD) filter for the multi-target tracking (MTT) problem in the scenario where both the mean and covariance of measurement noise sequences are unknown. The conventional PHD filters are extended to jointly estimate both the multi-target state and the aforementioned measurement noise statistics. In particular, the Normal-inverse-Wishart and Gaussian distributions are first integrated to represent the joint posterior intensity by transforming the measurement model into a new formulation. Then, the updating rule for the hyperparameters of the model is derived in closed form based on variational Bayesian (VB) approximation and Bayesian conjugate prior heuristics. Finally, the dynamic system state and the noise statistics are updated sequentially in an iterative manner. Simulations results with both constant velocity and constant turn model demonstrate that the AGM-PHD filter achieves comparable performance as the ideal PHD filter with true measurement noise statistics.
Adaptive filter, Artificial intelligence, Outlier Detection, Noise measurement, Particle Filtering and Nonlinear Estimation Methods, Noise (video), Nonparametric Methods, Gaussian noise, Quantum mechanics, Filter (signal processing), Gaussian Processes in Machine Learning, Artificial Intelligence, FOS: Mathematics, Image (mathematics), T1-995, Noise reduction, Technology (General), Control engineering systems. Automatic machinery (General), Covariance, Physics, Statistics, Computer science, Algorithm, Gaussian Filters, TJ212-225, Computer Science, Physical Sciences, Gaussian, Computer vision, Multitarget Tracking, Model-Based Clustering with Mixture Models, Mathematics
Adaptive filter, Artificial intelligence, Outlier Detection, Noise measurement, Particle Filtering and Nonlinear Estimation Methods, Noise (video), Nonparametric Methods, Gaussian noise, Quantum mechanics, Filter (signal processing), Gaussian Processes in Machine Learning, Artificial Intelligence, FOS: Mathematics, Image (mathematics), T1-995, Noise reduction, Technology (General), Control engineering systems. Automatic machinery (General), Covariance, Physics, Statistics, Computer science, Algorithm, Gaussian Filters, TJ212-225, Computer Science, Physical Sciences, Gaussian, Computer vision, Multitarget Tracking, Model-Based Clustering with Mixture Models, Mathematics
| selected citations These citations are derived from selected sources. This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically). | 7 | |
| popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network. | Top 10% | |
| influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically). | Average | |
| impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network. | Top 10% |
