
Proceedings Paper
The spline probability hypothesis density filterFormat | Member Price | Non-Member Price |
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Paper Abstract
The Probability Hypothesis Density Filter (PHD) is a multitarget tracker for recursively estimating the number
of targets and their state vectors from a set of observations. The PHD filter is capable of working well in
scenarios with false alarms and missed detections. Two distinct PHD filter implementations are available in the
literature: the Sequential Monte Carlo Probability Hypothesis Density (SMC-PHD) and the Gaussian Mixture
Probability Hypothesis Density (GM-PHD) filters. The SMC-PHD filter uses particles to provide target state
estimates, which can lead to a high computational load, whereas the GM-PHD filter does not use particles, but
restricts to linear Gaussian mixture models. The SMC-PHD filter technique provides only weighted samples
at discrete points in the state space instead of a continuous estimate of the probability density function of the
system state and thus suffers from the well-known degeneracy problem. This paper proposes a B-Spline based
Probability Hypothesis Density (S-PHD) filter, which has the capability to model any arbitrary probability
density function. The resulting algorithm can handle linear, non-linear, Gaussian, and non-Gaussian models and
the S-PHD filter can also provide continuous estimates of the probability density function of the system state. In
addition, by moving the knots dynamically, the S-PHD filter ensures that the splines cover only the region where
the probability of the system state is significant, hence the high efficiency of the S-PHD filter is maintained at
all times. Also, unlike the SMC-PHD filter, the S-PHD filter is immune to the degeneracy problem due to its
continuous nature. The S-PHD filter derivations and simulations are provided in this paper.
Paper Details
Date Published: 17 May 2012
PDF: 20 pages
Proc. SPIE 8392, Signal Processing, Sensor Fusion, and Target Recognition XXI, 83920E (17 May 2012); doi: 10.1117/12.921022
Published in SPIE Proceedings Vol. 8392:
Signal Processing, Sensor Fusion, and Target Recognition XXI
Ivan Kadar, Editor(s)
PDF: 20 pages
Proc. SPIE 8392, Signal Processing, Sensor Fusion, and Target Recognition XXI, 83920E (17 May 2012); doi: 10.1117/12.921022
Show Author Affiliations
Rajiv Sithiravel, McMaster Univ. (Canada)
Ratnasingham Tharmarasa, McMaster Univ. (Canada)
Mike McDonald, Defence R&D Canada (Canada)
Ratnasingham Tharmarasa, McMaster Univ. (Canada)
Mike McDonald, Defence R&D Canada (Canada)
Published in SPIE Proceedings Vol. 8392:
Signal Processing, Sensor Fusion, and Target Recognition XXI
Ivan Kadar, Editor(s)
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