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Particle Filtering Combined with Interval Methods for Tracking Applications

Research output: Contribution in Book/Report/ProceedingsChapter (peer-reviewed)

Published

Publication date13/11/2012
Host publicationIntegrated Tracking, Classification, and Sensor Management: Theory and Applications
EditorsMahendra Mallick, Vikram Krishnamurthy, Ba-Ngu Vo
Place of publicationNew Jersey
PublisherJohn Wiley and Sons
Pages43-74
Number of pages32
ISBN (Print)978-0470639054
Original languageEnglish

Abstract

This chapter presents a new approach combining the Bayesian framework with interval methods. When the system dynamics and measurement models have interval types of uncertainties, instead of point state estimates, guaranteed (interval) estimation is a promising approach. First, fundamental concepts from the interval analysis are introduced. Next, a Box Particle Filter (Box-PF) is presented and its theoretical derivation is given based on a mixture of uniform probability density functions. The efficiency of the Box-PF is significant compared with the generic sampling importance resampling particle Filter (SIR PF). With few particles the Box-PF can achieve the same estimation accuracy that the SIR PF achieves with thousands of particles. The performance of the proposed Box-PF is studied and results over examples both with simulated and real data are presented.