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Proceedings Paper

First-moment filters for spatial independent cluster processes
Author(s): Anthony Swain; Daniel E. Clark
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Paper Abstract

A group target is a collection of individual targets which are, for example, part of a convoy of articulated vehicles or a crowd of football supporters and can be represented mathematically as a spatial cluster process. The process of detecting, tracking and identifying group targets requires the estimation of the evolution of such a dynamic spatial cluster process in time based on a sequence of partial observation sets. A suitable generalisation of the Bayes filter for this system would provide us with an optimal (but computationally intractable) estimate of a multi-group multi-object state based on measurements received up to the current time-step. In this paper, we derive the first-moment approximation of the multi-group multi-target Bayes filter, inspired by the first-moment multi-object Bayes filter derived by Mahler. Such approximations are Bayes optimal and provide estimates for the number of clusters (groups) and their positions in the group state-space, as well as estimates for the number of cluster components (object targets) and their positions in target state-space.

Paper Details

Date Published: 27 April 2010
PDF: 10 pages
Proc. SPIE 7697, Signal Processing, Sensor Fusion, and Target Recognition XIX, 76970I (27 April 2010); doi: 10.1117/12.850034
Show Author Affiliations
Anthony Swain, Heriot-Watt Univ. (United Kingdom)
Daniel E. Clark, Heriot-Watt Univ. (United Kingdom)

Published in SPIE Proceedings Vol. 7697:
Signal Processing, Sensor Fusion, and Target Recognition XIX
Ivan Kadar, Editor(s)

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