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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Intertarget Occlusion Handling in Multiextended Target Tracking Based on Labeled Multi-Bernoulli Filter Using Laser Range Finder
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Intertarget Occlusion Handling in Multiextended Target Tracking Based on Labeled Multi-Bernoulli Filter Using Laser Range Finder

机译：基于标记的多Bernoulli滤波器使用激光测距仪的多折叠目标跟踪中的闭塞闭塞处理

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摘要

Multiextended target tracking (METT) has important applications in many fields, including autonomous vehicles, traffic flow monitoring, etc. However, as an acknowledged METT algorithm, the labeled multi-Bernoulli (LMB) filter cannot handle the intertarget occlusion problem, which frequently observed among METT, leading to an estimated trajectory break and even target loss. To tackle this problem, this article proposes an improved LMB filter with intertarget occlusion handling ability for METT. First, an intertarget occlusion probability (IOP) model based on a labeled random finite set using a laser range finder is developed. The IOP model theoretically describes the probability that each tracked target being occluded, considering both partial and full occlusion. Second, a true detection probability (TDP) model is presented to describe the probability that a target will generate corresponding measurement of a sensor in the presence of occlusion. The TDPs of tracked targets provide a way to integrate their estimated occlusion probabilities into the LMB filter to improve its capability of handling occluded tracks. We carried out multiple vehicle tracking simulation and field test using a laser range finder. Both simulation and experiment results illustrate that our improved LMB filter with occlusion handling ability can successfully tackle the intertarget occlusion problem and outperform conventional algorithms.
机译：多转的目标跟踪（METT）在许多领域中具有重要应用，包括自动车辆，流量流量监测等，然而，作为确认的METT算法，标记的多Bernoulli（LMB）过滤器无法处理经常观察的内部闭塞问题在Mett中，导致估计的轨迹断裂甚至是目标损失。为了解决这个问题，本文提出了一种改进的LMB过滤器，具有Mett的交织机闭塞处理能力。首先，开发了基于使用激光测距仪的标记随机有限组的内桨闭塞概率（IOP）模型。 IOP模型理论上地描述了每个跟踪目标被遮挡的概率，考虑到部分和完全闭塞。其次，呈现真正的检测概率（TDP）模型以描述目标在闭塞时将目标产生相应的传感器的概率。跟踪目标的TDP提供了一种将估计的遮挡概率集成到LMB滤波器中的方法，以提高其处理闭塞轨道的能力。我们使用激光测距仪进行多车辆跟踪仿真和现场测试。仿真和实验结果表明，我们改进的LMB过滤器具有遮挡处理能力，可以成功地解决内部闭塞问题和优于传统算法。

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