NDLI: Distributed Particle Filter for Target Tracking

Content Provider	IEEE Xplore Digital Library
Author	Dongbing Gu
Copyright Year	2007
Description	Author affiliation: Dept. of Comput. Sci., Essex Univ., Colchester (Dongbing Gu)
Abstract	This paper investigates target tracking using a distributed particle filter over sensor networks. Gaussian mixture model is adopted to approximate the posterior distribution of weighted particles in this distributed particle filter. The parameters of Gaussian mixture model are exchanged between neighbor sensor nodes. Each node can obtain the Gaussian mixture model representing particle's posterior distribution through the parameter exchange. With the posterior distribution, the distributed particle filter can draw particles from it, predicted particles and observations, update particle weights, and re-sample particles based the predicted weights. The parameter exchange is key to implement the distributed operation. It is implemented by using an average consensus filter. Through this consensus filter, each sensor node can gradually diffuse its local statistics of weighted particles over the entire network and asymptotically obtain the estimated global statistics. The parameters of Gaussian mixture model can be calculated by using the estimated global statistics. Because the average consensus filter only requires that each sensor node communicate with its neighbors, the proposed distributed particle filter is scalable and robust. Simulations of tracking tasks in a sensor network with 100 sensor nodes are given.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	3856
Ending Page	3861
File Size	213033
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.364070
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Particle filters Target tracking Statistical distributions Statistics Robustness Robotics and automation Computational efficiency Message passing Parameter estimation Monitoring
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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