Fast communication: Gaussian mixture importance sampling function for unscented SMC-PHD filter

Authors:
Ju Hong Yoon;Du Yong Kim;Kuk-Jin Yoon
Affiliations:
School of Information and Communications, Gwangju Institute of Science and Technology, Gwangju, Republic of Korea;School of Electrical, Electronic, and Computer Engineering, University of Western Australia, Crawley, Australia;School of Information and Communications, Gwangju Institute of Science and Technology, Gwangju, Republic of Korea
Venue:
Signal Processing
Year:
2013

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Abstract

The unscented sequential Monte Carlo probability hypothesis density (USMC-PHD) filter has been proposed to improve the accuracy performance of the bootstrap SMC-PHD filter in cluttered environments. However, the USMC-PHD filter suffers from heavy computational complexity because the unscented information filter is assigned for every particle to approximate an importance sampling function. In this paper, we propose a Gaussian mixture form of the importance sampling function for the SMC-PHD filter to considerably reduce the computational complexity without performance degradation. Simulation results support that the proposed importance sampling function is effective in computational aspects compared with variants of SMC-PHD filters and competitive to the USMC-PHD filter in accuracy.