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arXiv · 2309.08088

Interactive Model Fusion-Based GM-PHD Filter

Jiacheng He·Shan Zhong·Bei Peng·Gang Wang·Qizhen Wang
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Abstract

In multi-target tracking (MTT), non-Gaussian measurement noise from sensors can diminish the performance of the Gaussian-assumed Gaussian mixture probability hypothesis density (GM-PHD) filter. In this paper, an approach that transforms the MTT problem under non-Gaussian conditions into an MTT problem under Gaussian conditions is developed. Specifically, measurement noise with a non-Gaussian distribution is modeled as a weighted sum of different Gaussian distributions. Subsequently, the GM-PHD filter is applied to compute the multi-target states under these distinct Gaussian distributions. Finally, an interactive multi-model framework is employed to fuse the diverse multi-target state information into a unified synthesis. The effectiveness of the proposed approach is validated through the simulation results.

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Jiacheng He, Shan Zhong, Bei Peng, Gang Wang, Qizhen Wang. 2023-09-15. Interactive Model Fusion-Based GM-PHD Filter. https://arxiv.org/abs/2309.08088

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