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基于目标出生强度在线估计的多目标跟踪算法

闫小喜 韩崇昭

闫小喜, 韩崇昭. 基于目标出生强度在线估计的多目标跟踪算法. 自动化学报, 2011, 37(8): 963-972. doi: 10.3724/SP.J.1004.2011.00963
引用本文: 闫小喜, 韩崇昭. 基于目标出生强度在线估计的多目标跟踪算法. 自动化学报, 2011, 37(8): 963-972. doi: 10.3724/SP.J.1004.2011.00963
YAN Xiao-Xi, HAN Chong-Zhao. Multiple Target Tracking Algorithm Based on Online Estimation of Target Birth Intensity. ACTA AUTOMATICA SINICA, 2011, 37(8): 963-972. doi: 10.3724/SP.J.1004.2011.00963
Citation: YAN Xiao-Xi, HAN Chong-Zhao. Multiple Target Tracking Algorithm Based on Online Estimation of Target Birth Intensity. ACTA AUTOMATICA SINICA, 2011, 37(8): 963-972. doi: 10.3724/SP.J.1004.2011.00963

基于目标出生强度在线估计的多目标跟踪算法

doi: 10.3724/SP.J.1004.2011.00963
详细信息
    通讯作者:

    闫小喜 西安交通大学电子与信息工程学院综合自动化研究所博士研究生. 主要研究方向为多源信息融合, 多目标跟踪和随机有限集.本文通信作者. E-mail: yanxiaoxi1981@gmail.com

Multiple Target Tracking Algorithm Based on Online Estimation of Target Birth Intensity

  • 摘要: 针对多目标跟踪中未知的目标出生强度, 提出了基于Dirichlet分布的目标出生强度在线估计算法, 来改进概率假设密度滤波器在多目标跟踪中的性能. 算法采用有限混合模型来描述未知目标出生强度, 使用仅依赖于混合权重的负指数Dirichlet分布作为混合模型参数的先验分布. 利用拉格朗日乘子法推导了混合权重在极大后验意义下的在线估计公式; 混合权重在线估计过程利用了负指数Dirichlet分布的不稳定性, 驱使与目标出生数据不相关分量的消亡. 以随机近似过程为分量均值和方差的在线估计策略, 推导了基于缺失数据的分量均值与方差的在线估计公式. 在无法获得初始步出生目标先验分布的约束下, 提出了在混合模型上增加均匀分量的初始化方法. 以当前时刻的多目标状态估计值为出发点, 提出了利用概率假设密度滤波器消弱杂波影响的出生目标数据获取方法. 仿真结果表明, 提出的目标出生强度在线估计算法改进了概率假设密度滤波器在多目标跟踪中的性能.
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  • 收稿日期:  2010-09-29
  • 修回日期:  2010-12-27
  • 刊出日期:  2011-08-20

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