A Track-Before-Detect Approach to Multi-Target Tracking on Automotive Radar Sensor Data
In recent years, Bayes filter methods in the labeled random finite set formulation have become increasingly powerful in the multi-target tracking domain. One of the latest outcomes is the Generalized Labeled Multi-Bernoulli (GLMB) filter which allows for stable cardinality and target state estimation as well as target identification in a unified framework. In contrast to the initial context of the GLMB filter, this paper makes use of it in the Track-Before-Detect (TBD) scheme and thus, avoids information loss due to thresholding and other data preprocessing steps. This paper provides a TBD GLMB filter design under the separable likelihood assumption that can be applied to real world scenarios and data in the automotive radar context. Its applicability to real sensor data is demonstrated in an exemplary scenario. To the best of the authors' knowledge, the GLMB filter is applied to real radar data in a TBD framework for the first time.
Code (0)
등록된 구현이 없습니다.
Tasks
State EstimationSimilar Papers 제목 키워드 기반
Automotive Radar Multi-Frame Track-Before-Detect Algorithm Considering Self-Positioning Errors
This paper presents a method for the joint detection and tracking of weak targets in automotive radars using the multi-frame track-before-detect (MF-TBD) procedure. Generally, target tracking in automotive radars is chal…
Transformer Based Multi-Target Bernoulli Tracking for Maritime Radar
Multi-target tracking in the maritime domain is a challenging problem due to the non-Gaussian and fluctuating characteristics of sea clutter. This article investigates the use of machine learning (ML) to the detection an…
Broadband Passive Sonar Track-Before-Detect Using Raw Acoustic Data
This article concerns the challenge of reliable broadband passive sonar target detection and tracking in complex acoustic environments. Addressing this challenge is becoming increasingly crucial for safeguarding underwat…
A Track-Before-Detect Algorithm for UWB Radar Sensor Networks
Precise localization and tracking of moving non-collaborative persons and objects using a network of ultra-wideband (UWB) radar nodes has been shown to represent a practical and effective approach. In UWB radar sensor ne…
Hide and Seek tracker: Real-time recovery from target loss
In this paper, we examine the real-time recovery of a video tracker from a target loss, using information that is already available from the original tracker and without a significant computational overhead. More specifi…
Position