12,000

We have over 12,000 students, from over 100 countries, within one of the safest campuses in the UK

93%

93% of Lancaster students go into work or further study within six months of graduating

Home > Research > Publications & Outputs > Box-Particle PHD Filter for Multi-Target Tracking
View graph of relations

« Back

Box-Particle PHD Filter for Multi-Target Tracking

Research output: Contribution in Book/Report/ProceedingsPaper

Published

Publication date7/07/2012
Host publicationInformation Fusion (FUSION), 2012 15th International Conference on
PublisherIEEE
Pages106-113
Number of pages8
ISBN (Electronic)978-0-9824438-4-2
ISBN (Print)978-1-4673-0417-7
Original languageEnglish

Conference

ConferenceThe 15th International Conference on Information Fusion
CountrySingapore
Period9/07/1212/07/12

Conference

ConferenceThe 15th International Conference on Information Fusion
CountrySingapore
Period9/07/1212/07/12

Abstract

This paper develops a novel approach for multitarget tracking, called box-particle probability hypothesis density filter (box-PHD filter). The approach is able to track multiple targets and estimates the unknown number of targets. Furthermore, it is capable to deal with three sources of uncertainty: stochastic,
set-theoretic and data association uncertainty. The box-PHD filter reduces the number of particles significantly, which improves the runtime considerably. The small particle number makes this approach attractive for distributed computing. A box-particle is a random sample that occupies a small and controllable rectangular region of non-zero volume. Manipulation of boxes utilizes methods from the field of interval analysis. The theoretical derivation of the box-PHD filter is presented followed by a comparative analysis with a standard sequential Monte Carlo (SMC) version of the PHD filter. To measure the performance objectively three measures are used: inclusion, volume and the optimum subpattern assignment metric. Our studies suggest that the box-PHD filter reaches similar accuracy results, like a SMCPHD filter but with much considerably less computational costs. Furthermore, we can show that in the presence of strongly biased measurement the box-PHD filter even outperforms the classical SMC-PHD filter.