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Visibility informed Bernoulli filter for target tracking in cluttered environments

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conference contribution
posted on 2022-09-02, 11:10 authored by Tim GloverTim Glover, Cunjia LiuCunjia Liu, Wen-Hua ChenWen-Hua Chen

Incorporating prior environmental information to the diversely applied field of target tracking is becoming more beneficial in order to leverage maximum sensing performance. Urban scenarios in particular present numerous large obstacles that will block the field of view of most sensors along with many potential sources of measurement clutter. Handling these complications appropriately is imperative to ensure improved target tracking performance. This paper presents a computationally efficient method of integrating visibility information within the Bernoulli particle filter. Through estimation of target visibility with ray casting, the probability of target detection, birth density and spatial target density are modified. Numerical results demonstrate significantly more gradual degradation in target state estimation performance and improved estimation of target existence in the occlusion situation. Faster tracking recovery when emerging from occluded regions is also demonstrated.

Funding

Defence Science and Technology Laboratory, UK

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

2022 25th International Conference on Information Fusion (FUSION)

Source

2022 25th International Conference on Information Fusion (FUSION)

Publisher

IEEE

Version

  • AM (Accepted Manuscript)

Publisher statement

Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Publication date

2022-08-09

Copyright date

2022

ISBN

9781737749721; 9781665489416

Language

  • en

Location

Linköping, Sweden

Event dates

4th July 2022 - 7th July 2022

Depositor

Tim Glover. Deposit date: 31 August 2022

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