The paper addresses distributed multitarget track- ing over a peer-to-peer network of sensors with limited target observability. It is shown how to extend the Cheap Joint Probabilistic Data Association (CJPDA) filter to this setting by devising suitable distributed, consensus-based, procedures for track initiation and track fusion. The resulting, association- based, Distributed-CJPDA (D-CJPDA) tracker is then compared to a previously proposed random set approach for the same problem based on the Gaussian Mixture Cardinalized Probability Hypothesis Density (CPHD) filter.
Distributed peer-to-peer multitarget tracking with association-based track fusion / G. Battistelli; L. Chisci; C. Fantacci; N. Forti; A. Farina; A. Graziano. - ELETTRONICO. - (2014), pp. 1-7. (Intervento presentato al convegno 17th International Conference on Information Fusion tenutosi a Salamanca, Spain nel 7-10 July, 2014).
Distributed peer-to-peer multitarget tracking with association-based track fusion
BATTISTELLI, GIORGIO;CHISCI, LUIGI;FANTACCI, CLAUDIO;FORTI, NICOLA;
2014
Abstract
The paper addresses distributed multitarget track- ing over a peer-to-peer network of sensors with limited target observability. It is shown how to extend the Cheap Joint Probabilistic Data Association (CJPDA) filter to this setting by devising suitable distributed, consensus-based, procedures for track initiation and track fusion. The resulting, association- based, Distributed-CJPDA (D-CJPDA) tracker is then compared to a previously proposed random set approach for the same problem based on the Gaussian Mixture Cardinalized Probability Hypothesis Density (CPHD) filter.
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