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Data Fusion and Efficient Algorithm for Moving Target Tracking

Guocheng Liu, Yongji Wang
2008 IFAC Proceedings Volumes  
The principle of target tracking and data fusion techniques are discussed. To resolve high uncertainty that exists in sensors of mobile robots, one multi-sensor data fusion algorithm is presented.  ...  The algorithm is based on particle filter techniques, fuses the information coming from multiple sensors and merges different state space models.  ...  This paper applies particle filter to implement the state estimation and multi-sensor data fusion, and presents a new data fusion algorithm. It is organized as follows.  ... 
doi:10.3182/20080706-5-kr-1001.00406 fatcat:j2dqattg4za7zegugxtdf4pwse

Bearing only Target Tracking using Single and Multisensor: A Review

B. Sindhu, J. Valarmathi, S. Christopher
2019 Journal of Engineering Science and Technology Review  
The brief review of methods used for estimating the target state in single and multi-sensor bearing only tracking (BOT) is presented in this paper.  ...  Here, the target tracking scenarios are divided into three different categories based on the nature of target motion and the number of target and sensors involved.  ...  Fig. 5 . 5 Techniques involved in Multi-sensor multi target tracking • MHT -Multiple hypothesis tracker • MFA -Multiframe assignment algorithm • MMPF -Multi-mode particle filter • MLE -Maximum likelihood  ... 
doi:10.25103/jestr.121.07 fatcat:kt7frpjjj5gqbfxyxchg2r7pqi

A LEGO-based mobile robotic platform for evaluation of parallel control and estimation algorithms

Fredrik Wahlberg, Alexander Medvedev, Olov Rosen
2011 IEEE Conference on Decision and Control and European Control Conference  
As an illustration, a bearings-only tracking problem, estimating both mobile robots positions and the position of a non-cooperating target by using parallel particle filtering, is solved on the proposed  ...  The hardware platform is comprised of a state-of-the-art multi-core system in a wireless network with several mobile LEGO robots that collect data from their environment.  ...  The second phase of filtering estimates the position and velocity of the target using an number of particle filtering techniques.  ... 
doi:10.1109/cdc.2011.6161252 dblp:conf/cdc/WahlbergMR11 fatcat:kjac7swzpbet3oum5vbqozq67a

Adaptive Control and Reconfiguration of Mobile Wireless Sensor Networks for Dynamic Multi-Target Tracking

Xi Zhang
2011 IEEE Transactions on Automatic Control  
) filtering algorithms.  ...  Index Terms-Distributed/Decentralized Probability Hypothesis Density (DPHD) Filter, dynamic mobile multi-target tracking, mobile wireless sensor networks (MWSN), mutual information-theory based control  ...  Density (DPHD) filtering algorithms.  ... 
doi:10.1109/tac.2011.2163862 fatcat:dqd37qoubjgbxdpypbgsq5unmu

Research Progress on Synergistic Technologies of Agricultural Multi-Robots

Wenju Mao, Zhijie Liu, Heng Liu, Fuzeng Yang, Meirong Wang
2021 Applied Sciences  
of agricultural multi-robots, such as building a hybrid architecture of multi-robot systems, SLAM (simultaneous localization and mapping), cooperation learning of robots, hybrid path planning and formation  ...  Finally, because of these development characteristics, it is shown that the trends and research focus for agricultural multi-robots are to optimize the existing technologies and apply them to a variety  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app11041448 fatcat:sk5eu5j62vg6rkys62qhxzhphq

Literature Survey on Multi-Camera System and Its Application

Adeshina Sirajdin Olagoke, Haidi Ibrahim, Soo Siang Teoh
2020 IEEE Access  
The trajectory information of the target object as it moves through the blind areas is mapped by the Particle Filter algorithm. Bauml et al.  ...  [163] proposed a unified framework that used a particle filter to track target objects in a non-overlapping multicamera system.  ... 
doi:10.1109/access.2020.3024568 fatcat:j4lupf5ftzflbhvubbv7ppvdh4


2019 Applied Ecology and Environmental Research  
The research findings shed a new light on the fusion of remote sensing data collected by multiple sensors. APPLIED ECOLOGY AND ENVIRONMENTAL RESEARCH 17(4):9083-9095.  ...  The BP neural network was coupled with the particle swarm optimization (PSO) algorithm into the PSO-BPNN-EKF data fusion algorithm.  ...  KF data fusion The traditional filtering algorithms mainly target the state variables of the system to be processed.  ... 
doi:10.15666/aeer/1704_90839095 fatcat:ckxpfmf2bjd2tnze276k2b6aqe

Multitarget Tracking Using Virtual Measurement of Binary Sensor Networks

Xuezhi Wang, Bill Moran
2006 2006 9th International Conference on Information Fusion  
With VMs, conventional multi-target tracking (MTT) algorithms can be used in a straightforward way for tracking multiple targets over the sensing field of binary sensor networks.  ...  In addition, algorithmic computational complexity is an issue if particle filters are used.  ...  Moreover, the use of particle filters for multi-target tracking problem is an ongoing research issue [7] .  ... 
doi:10.1109/icif.2006.301815 dblp:conf/fusion/WangM06a fatcat:k2hjumg7ebhg7mnqqcw3jwwvci

Random Finite Set Based Bayesian Filtering with OpenCL in a Heterogeneous Platform

Biao Hu, Uzair Sharif, Rajat Koner, Guang Chen, Kai Huang, Feihu Zhang, Walter Stechele, Alois Knoll
2017 Sensors  
Towards this goal, this paper investigates the use of OpenCL to accelerate the computation of random finite set-based Bayesian filtering in a heterogeneous system.  ...  This was followed by extensive profiling analysis to spot the potential bottlenecks in terms of execution performance, which were then targeted to come up with an OpenCL accelerated application.  ...  Uzair Sharif also provided a masters thesis as the paper reference. Guang Chen and Biao Hu prepared the manuscript.  ... 
doi:10.3390/s17040843 pmid:28417906 pmcid:PMC5424720 fatcat:fzrvcrnrbnc65mu73kxx5yrepm

Data Fusion Performance Evaluation for Dissimilar Sensors: Application to Road Obstacle Tracking [chapter]

Blanc Christophe, Checchin Paul, Gidel Samuel, Trassoudaine Laurent
2009 Sensor and Data Fusion  
Two algorithms have been considered: the extended Kalman filter and the particle filter.  ...  This improved accuracy of the particle filter, however, is at the expense of the computational load. Particle filter with 10000 particles is equivalent to EKF.  ...  We propose here, to carry out a particle filtering on the fusion module level. A fusion state is initialized. From this vector, a set of particles is built.  ... 
doi:10.5772/6570 fatcat:xrbwg5d5tbfzdipcf46uf7t5bm


2019 2019 International Conference on Control, Automation and Information Sciences (ICCAIS)  
P-DPF) algorithm and is very close to the measurement-based centralized particle filter (M-CPF) algorithm.  ...  the multi-agent system form formation, maintain the formation and realizethe dynamic tracking and hunting of single target.  ...  In our proposed framework, the state detection of the elevator door is first implemented by an improved ViBe algorithm; afterwards, a trained deep learning model, i.e., an SSD_MobileNet model, is utilized  ... 
doi:10.1109/iccais46528.2019.9074650 fatcat:f3libdixzvez3kaeyb5dubekrq

Infrastructure-free Localization of Aerial Robots with Ultrawideband Sensors [article]

Samet Guler, Mohamed Abdelkader, Jeff S. Shamma
2018 arXiv   pre-print
The proposed dual MCL algorithm yields highly accurate estimates for various speed profiles of the tag robot and demonstrates a superior performance over the standard particle filter and the extended Kalman  ...  Our framework consists of an anchor robot with three ultrawideband (UWB) sensors and a tag robot with a single UWB sensor.  ...  The authors in [16] proposed a simple model that captures the multimodal error behavior of the UWB measurements in NLOS environments and designed a particle filter based localization algorithm for multi-robot  ... 
arXiv:1809.08218v1 fatcat:erhogw4ttncxvltlppq4uzv5qa

Multi-Target Tracking and Detection Based on Hybrid Filter Algorithm

Xianzhen Xu, Zhiyu Yuan, Yanping Wang
2020 IEEE Access  
INDEX TERMS Wireless sensor network, multi-target tracking, target tracking algorithm, target detection GMM algorithm. 209528 This work is licensed under a Creative Commons Attribution 4.0 License.  ...  The filtering has been studied in detail. In addition, a tracking algorithm under the mixed linear and non-linear motion of the moving target is also proposed, namely the hybrid filtering algorithm.  ...  SENSOR MULTI-TARGET TRACKING ANALYSIS A.  ... 
doi:10.1109/access.2020.3024928 fatcat:2ad6xvnnfjhafgxrhlifetn6fa

Obstructed Target Tracking in Urban Environments [article]

Christopher Berry, Donald J. Bucci
2019 arXiv   pre-print
In this paper, we propose the integration of geospatial data for an urban environment into a particle filter realization of a random finite set target tracking algorithm.  ...  The particle filter predict and update steps are modified such that (1) target births are assumed to occur in line-of-sight (LOS) regions, (2) targets do not move into obstructions, (3) true target detections  ...  For the case of a single target, however, the exact multi-target Bayes filter is the Bernoulli filter.  ... 
arXiv:1906.02397v1 fatcat:psjsj3vt6jhdzfbx6srle3beq4

A Distributed Energy-Efficient Algorithm for Cellular Target Tracking in Wireless Sensor Networks [chapter]

Zohreh Alizadeh, Mohsen Afsharchi, Armin Ghasem Azar
2015 IFIP Advances in Information and Communication Technology  
Probabilistic positions of the targets are predicted based on an improved particle filter procedure consecutively.  ...  A cell, including a subset of sensors, is constructed over time considering the predicted positions of targets.  ...  [6] have proposed a class of interacting particle filters for multi-target tracking.  ... 
doi:10.1007/978-3-319-23868-5_6 fatcat:gvyljqja3rabnbcltd5lprupaq
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