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Proceedings Paper

Asynchronous data fusion of infrared imaging and laser ranging for target tracking
Author(s): Jingya Hao; BingJian Wang; Jia Li
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Paper Abstract

In a multi-sensor system, sensors often provide data at different rates with different communication delays. To the asynchronous fusion for target tracking with infrared and laser sensors, that provide range and bearing information respectively, there mainly exist two problems need to be solved. One is temporal registration of different sensors since infrared sensor has a shorter sample time than laser sensor. The measurements are dealt with least square method, which makes full use of the high frequency characteristic of infrared sensor. The other is the choice of filtering algorithm because of the correlation of coordinate transformation when measurement equation is described in Cartesian coordinate. Converted measurement Kalman filter (CMKF) is a popular solution to the nonlinear estimation problem expect nonlinear filtering algorithm. Simulations of the algorithms adopted in the paper were carried out to track the target and the performance of different algorithms was compared. The results show that the algorithm based on CMKF yields better track performance than the fusion algorithm based on standard Kalman filter (KF) and a little worse than the algorithm based on unscented Kalman filter (UKF).

Paper Details

Date Published: 24 November 2014
PDF: 6 pages
Proc. SPIE 9301, International Symposium on Optoelectronic Technology and Application 2014: Image Processing and Pattern Recognition, 93011F (24 November 2014); doi: 10.1117/12.2072040
Show Author Affiliations
Jingya Hao, Xidian Univ (China)
BingJian Wang, Xidian Univ. (China)
Jia Li, Xidian Univ. (China)


Published in SPIE Proceedings Vol. 9301:
International Symposium on Optoelectronic Technology and Application 2014: Image Processing and Pattern Recognition
Gaurav Sharma; Fugen Zhou; Jennifer Liu, Editor(s)

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