A decentralised particle filtering algorithm for multi-target tracking across multiple flight vehicles

Lee-ling Ong, Ben Upcroft, Tim Bailey, Matthew Ridley, Salah Sukkarieh, Hugh Durrant-Whyte
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents a decentralised particle filtering algorithm that enables multiple vehicles to jointly track 3D features under limited communication bandwidth. This algorithm, applied within a decentralised data fusion (DDF) framework, deals with correlated estimation errors due to common past information when fusing two discrete particle sets. Our solution is to transform the particles into Gaussian mixture models (GMMs) for communication and fusion. Not only can decentralised fusion be
more » ... roximated by GMMs, but this representation also provides summaries of the particle set. Less bandwidth per communication step is required to communicate a GMM than the particle set itself hence conversion to GMMs for communication is an advantage. Real airborne data is used to demonstrate the accuracy of our decentralised particle filtering algorithm for airborne tracking and mapping.
doi:10.1109/iros.2006.282155 dblp:conf/iros/OngUBRSD06 fatcat:zyhvix4a45dtjdzz3muyt7kdx4