
Proceedings Paper
Fundamentals of distributed estimation and trackingFormat | Member Price | Non-Member Price |
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Paper Abstract
Distributed processing of multiple sensor data has advantages over centralized processing because of lower bandwidth
for communicating data and lower processing load at each site. However, distributed fusion has to address dependence
issues not present in centralized fusion. Bayesian distributed fusion combines local probabilities or estimates to generate
the results of centralized fusion by identifying and removing redundant common information. Approximation of
Bayesian distributed fusion provides practical algorithms when it is difficult to identify the common information.
Another distributed fusion approach combines estimates with known means and cross covariances according to some
optimality criteria. Distributed object tracking involves both track to track association and track state estimate fusion
given an association. Track state estimate fusion equations can be obtained from distributed estimation equations by
treating the state as a random process with measurements that are accumulated over time. For objects with deterministic
dynamics, the same fusion equations for static states can be used. When the object state has non-deterministic dynamics,
reconstructing the centralized estimate from the local estimates is usually not possible, but fusion equations based on
means and cross covariances are still optimal with respect to their criteria. It is possible to fuse local estimates to
duplicate the results of centralized tracking but the local estimates are not locally optimal and the weighting matrices
depend on covariance matrices from other sensors.
Paper Details
Date Published: 17 May 2012
PDF: 14 pages
Proc. SPIE 8392, Signal Processing, Sensor Fusion, and Target Recognition XXI, 83920Y (17 May 2012); doi: 10.1117/12.922930
Published in SPIE Proceedings Vol. 8392:
Signal Processing, Sensor Fusion, and Target Recognition XXI
Ivan Kadar, Editor(s)
PDF: 14 pages
Proc. SPIE 8392, Signal Processing, Sensor Fusion, and Target Recognition XXI, 83920Y (17 May 2012); doi: 10.1117/12.922930
Show Author Affiliations
Shozo Mori, BAE Systems (United States)
Published in SPIE Proceedings Vol. 8392:
Signal Processing, Sensor Fusion, and Target Recognition XXI
Ivan Kadar, Editor(s)
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