期刊
SIGNAL PROCESSING
卷 93, 期 9, 页码 2510-2515出版社
ELSEVIER SCIENCE BV
DOI: 10.1016/j.sigpro.2013.03.027
关键词
Target tracking; Multi-target multi-Bernoulli filter; Variational Bayesian; Inverse Gamma distribution
资金
- Fundamental Research Funds for the Central Universities [JUSRP1025]
- National Natural Science Foundation of China [60975027]
Random finite set (RFS) filters have been demonstrating a promising algorithm for tracking an unknown number of targets in real time. However, these methods can only be used in the multi-target tracking systems with known measurement noise variances; otherwise, their tracking performances will decline greatly. To solve this problem, an improved multi-target tracking algorithm is proposed based on the cardinality-balanced multi-target multi-Bernoulli (CBMeMBer) filter and the variational Bayesian (VB) approximation technique to recursively estimate the joint posterior distributions of the multi-target states and the time-varying measurement noise variances. First, the variational calculus method is employed to derive the multi-target estimate recursions, and then the Gaussian and inverse Gamma mixture distributions are introduced to approximate the joint posterior density, and achieve a Gaussian closed-form solution. Simulation results show that the proposed algorithm can effectively estimate the unknown measurement noise variances and has a good performance of multi-target tracking with a strong robustness. (c) 2013 Elsevier B.V. All rights reserved.
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