Rao-Blackwellized particle cardinality balanced multi-target multi-Bernoulli filter

doi:10.7641/CTA.2016.50588

	Rao-Blackwellized particle cardinality balanced multi-target multi-Bernoulli filter
	Chen, Hui 1,2; Han, Chong-Zhao 1
刊名	Kongzhi Lilun Yu Yingyong/Control Theory and Applications
	2016-02-01
卷号	33 期号:2 页码:146-153
关键词	Clutter (information theory) Distributed computer systems Monte Carlo methods Set theory State space methods Multi-Bernoulli Multi-target tracking Particle filter Random finite sets Rao-Blackwell
ISSN号	10008152
DOI	10.7641/CTA.2016.50588
英文摘要	The multi-Bernoulli filter propagates approximately the multi-target posterior density so that solving target tracking problem and extracting target state based on random finite set are more tractable. Considering a state space model whose state can be divided into linear and nonlinear part, this paper analyzes the Rao-Blackwell theorem based filtering algorithm. Then, using the corresponding algorithm of decorrelation of state noises, we presents the filtering formula for linear state. Moreover, this paper proposes a Rao-Blackwellized particle cardinality balanced multi-target multi-Bernoulli filter. This algorithm firstly implements the particle filtering for multi-Bernoulli nonlinear state, and the filtering formula of multi-Bernoulli linear state is derived afterwards based on the nonlinear filtering result. The proposed filter can sample particle in a lower dimensional state space and improve the overall target tracking performance. The simulation results of the multi-target tracking show the effectiveness of the proposed approach. © 2016, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
语种	中文
出版者	South China University of Technology
内容类型	期刊论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/112980]
专题	电气工程与信息工程学院
作者单位	1.Ministry of Education Key Lab for Intelligent Networks and Network Security, Xi'an Jiaotong University, Xi'an; Shaanxi; 710049, China; 2.School of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou; Gansu; 730050, China
推荐引用方式 GB/T 7714	Chen, Hui,Han, Chong-Zhao. Rao-Blackwellized particle cardinality balanced multi-target multi-Bernoulli filter[J]. Kongzhi Lilun Yu Yingyong/Control Theory and Applications,2016,33(2):146-153.
APA	Chen, Hui,&Han, Chong-Zhao.(2016).Rao-Blackwellized particle cardinality balanced multi-target multi-Bernoulli filter.Kongzhi Lilun Yu Yingyong/Control Theory and Applications,33(2),146-153.
MLA	Chen, Hui,et al."Rao-Blackwellized particle cardinality balanced multi-target multi-Bernoulli filter".Kongzhi Lilun Yu Yingyong/Control Theory and Applications 33.2(2016):146-153.