Gaussian mixture PHD filter and its application in multi-target tracking

  • Authors:

  • Zhi Wang;Xiao-Bin Xu;Cheng-Lin Wen

  • Affiliations:

  • College of Automation, Hangzhou Dianzi University, Hangzhou;College of Automation, Hangzhou Dianzi University, Hangzhou;College of Automation, Hangzhou Dianzi University, Hangzhou

  • Venue:
  • CCDC'09 Proceedings of the 21st annual international conference on Chinese control and decision conference
  • Year:
  • 2009

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Abstract

In this paper, a filter model about Multi-target Tracking is present under the random set framework. Then the PHD filter is used to process the model and its closed-form is given under the linear Gaussian mixture situation. There exist two problems in PHD method. First is that the calculation is very heavy and increases exponentially. Second is the method can not identify the target and its trajectory. In order to solve the problems above, an optimized algorithm is shown to release the heavy load of calculating in PHD and a cluster analysis method is given to identify the target and its trajectory. In the last of the paper, the simulation is used to prove the efficiency of the method.