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A decentralised particle filtering algorithm for multi-target tracking across multiple flight vehicles
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 bedoi:10.1109/iros.2006.282155 dblp:conf/iros/OngUBRSD06 fatcat:zyhvix4a45dtjdzz3muyt7kdx4