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Proceedings Paper

Urban multitarget tracking via gas-kinetic dynamics models
Author(s): Ronald Mahler
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Paper Abstract

Multitarget tracking in urban environments presents a major theoretical and practical challenge. A recently suggested approach is that of modeling traffic dynamics using the fluid-kinetic methods of traffic-flow theory (TFT). I propose use of the newer, more general, gas-kinetic (GK) approach to TFT. In GK, traffic flow is modeled as a one- or two-dimensional constrained gas. The paper demonstrates the following. (1) The foundational concept in GK--the "phase-space density"--is the same thing as the probability hypothesis density (PHD) of multitarget tracking theory. (2) The theoretically best-that-one-can do approach to TFT-based tracking is a PHD filter. (3) Better performance can be obtained by augmenting this PHD filter as a cardinalized PHD (CPHD) filter. A simple example is presented to illustrate how PHD/CPHD filters can be integrated with conventional macroscopic, mesoscopic, and microscopic TFT.

Paper Details

Date Published: 23 May 2013
PDF: 12 pages
Proc. SPIE 8745, Signal Processing, Sensor Fusion, and Target Recognition XXII, 87450B (23 May 2013); doi: 10.1117/12.2015448
Show Author Affiliations
Ronald Mahler, Lockheed Martin Corp. (United States)


Published in SPIE Proceedings Vol. 8745:
Signal Processing, Sensor Fusion, and Target Recognition XXII
Ivan Kadar, Editor(s)

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