NDLI: Bernoulli filtering on a moving platform

Content Provider	IEEE Xplore Digital Library
Author	Julier, S.J. Gning, A.
Copyright Year	2015
Description	Author affiliation: Dept. of Comput. Sci., Univ. Coll. London, London, UK (Julier, S.J.; Gning, A.)
Abstract	This paper considers the problem of tracking a target - which might or might not exist - from a platform whose position is not known perfectly and might contain substantial time dependencies. Most single and multi-target tracking algorithms implicitly or explicitly assume that the location of the sensor platform system is known perfectly. However, in practice the location of sensing platforms is often estimated, usually by fusing a set of sensor measurements from different sources. As a result, the error in the platform estimates could be significant and time correlated. These difficulties are compounded in single and multi-target tracking problems when the existence of a target is not guaranteed. In this paper, we consider the problem of tracking at most a single target from a poorly-localized UAV. We develop a formulation of the Bernoulli filter which incorporates both the target state and the state of the platform. However, because the dimension of the state is relatively large, we develop a suboptimal algorithm which, through neglecting the use of track information to improve the quality of the platform estimate, scales in a manner very similar to that of a conventional Bernoulli filter. The implementations of the different algorithms are tested in a simulation scenario of a UAV performing safety monitoring of a convoy.
Starting Page	1511
Ending Page	1518
File Size	953447
Page Count	8
File Format	PDF
e-ISBN	9780982443866
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-06
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	ISIF
Subject Keyword	Target tracking Filtering algorithms Cameras Clutter Approximation methods Simultaneous localization and mapping
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

A methodology for incorporating the Doppler blind zone in target tracking algorithms

Multi-Bernoulli filtering with unknown clutter intensity and sensor field-of-view

Stereo-based simultaneous localization, mapping and moving object tracking

Tracking moving vehicles using particle filtering and level set

Performance comparison of several nonlinear multi-Bernoulli filters for multi-target filtering

A generalised labelled multi-Bernoulli filter for extended multi-target tracking

Simultaneous camera orientation estimation and road target tracking

SLAM and moving target tracking based on constrained local submap filter

Cooperative simultaneous localization and tracking for mobile AD-HOC sensor networks

Bernoulli filtering on a moving platform

Similar Documents

A methodology for incorporating the Doppler blind zone in target tracking algorithms

Multi-Bernoulli filtering with unknown clutter intensity and sensor field-of-view

Stereo-based simultaneous localization, mapping and moving object tracking

Tracking moving vehicles using particle filtering and level set

Performance comparison of several nonlinear multi-Bernoulli filters for multi-target filtering

A generalised labelled multi-Bernoulli filter for extended multi-target tracking

Simultaneous camera orientation estimation and road target tracking

SLAM and moving target tracking based on constrained local submap filter

Cooperative simultaneous localization and tracking for mobile AD-HOC sensor networks

Bernoulli filtering on a moving platform