知识辅助的贝叶斯检测联合跟踪框架与方法
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摘要
本文设计了一种知识辅助的贝叶斯检测联合跟踪框架,介绍了动态知识库,知识获取、学习与应用,检测与跟踪一体化处理,航迹后处理等关键环节,利用先验知识和实时信号特征提升目标跟踪性能。提出了一种基于贝叶斯联合风险函数的检测联合跟踪方法,可根据不同性能指标自适应设计跟踪系统,仿真结果表明该方法估计性能优于传统的S+1-D方法。
A framework of Bayesian joint detecting and tracking knowledge-aided is designed. Dynamic knowledge base,knowledge acquisition、learning and applying,integrated information processing,track post-processing are introduced. The performance of target tracking using prior-knowledge and real-time signal features is improved. A joint detecting and tracking method based on Bayesian joint risk function is proposed,which can self-adaptively design tracking system according to different performance indicators.Simulation results show that the performance of this method is better than the classical S + 1-D method.
A framework of Bayesian joint detecting and tracking knowledge-aided is designed. Dynamic knowledge base,knowledge acquisition、learning and applying,integrated information processing,track post-processing are introduced. The performance of target tracking using prior-knowledge and real-time signal features is improved. A joint detecting and tracking method based on Bayesian joint risk function is proposed,which can self-adaptively design tracking system according to different performance indicators.Simulation results show that the performance of this method is better than the classical S + 1-D method.
引文
[1] Mahler,R. Statistical Multisource-Multitarget Information Fusion. Norwood,MA:Artech House,2007.
[2] Vercauteren T,Guo D,Wang X. Joint Multiple Target Tracking and Classification in Collaborative Sensor Networks[J]. IEEE Journal on Selected Areas in Communications,2005,23(4):714-723.
[3] Lundquist C,Hammarstrand L,Gustafsson F. Road Intensity Based Mapping Using radar Measurements with a Probability Hypothesis Density Filter[J]. Multi-target Tracking[J]. IEEE Transactions on Aerospace and Electronic Systems,2006,42(3):778-795.
[4] Mei W,Shan G L,Li X R. Simultaneous Tracking and Classification:A Modularized Scheme[J]. IEEE Transactions on Aerospace and Electronic Systems,2007,43(2):581-599.
[5] Mahler R. PHD Filters of Higher Order in Target Number[J]. IEEE Transactions on Aerospace and Electronic Systems,2007,43(4):1523-1543.
[6]连峰.基于随机有限集的多目标跟踪方法研究[D].西安交通大学,2009.
[7] Clark D,Ristic B,Vo B N,Vo B T. Bayesian Multi-object Filtering with Amplitude Feature Likelihood for Unknown Object SNR[J]. IEEE Transactions on Signal Processing,2010,58(1):26-37.
[8] Rezaeian M,Vo B N. Error Bounds for Joint Detection and Estimation of a Single Object with Random Finite Set Observation[J]. IEEE Transactions on Signal Processing,2010,58(3):1493-1506.
[9] Vo B N,Vo B T,Pham N T,Suter D. Joint Detection and Estimation of Multiple Objects from Image Observations[J]. IEEE Transactions on Signal Processing,2010,58(10):5129-5141.
[10] Mahler R,Vo B T,Vo B N. CPHD Filtering with Unknown Clutter Rate and Detection Profile[J]. IEEE Transactions on Signal Processing,2011,59(8):3497-3513.
[11] Ristic B. Target Classification with Imprecise Likelihoods:Mahler’s Approach[J]. IEEE Transactions on Aerospace and Electronic Systems, 2011, 47(2):1530-1534.
[12] Vo B T,Clark D,Vo B N,Ristic B. Bernoulli ForwardBackward Smoothing for Joint Target Detection and Tracking[J]. IEEE Transactions on Signal Processing,2011,59(9):4473-4477.
[13]杨峰,王永齐,梁彦,潘泉.基于概率假设密度滤波方法的多目标跟踪技术综述[J].自动化学报,2013,39(11):1944-1956.
[14]李鹏.基于随机有限集的多扩展目标跟踪和航迹维持算法研究[D].江南大学,2018.
[15]单甘霖,梅卫,王春平.联合目标跟踪与分类技术的进展及存在问题[J].兵工学报,2007,28(6):733-738.
[16]杨威.基于有限集统计学理论的机动目标联合检测、跟踪与分类技术研究[D].国防科学技术大学,2012.
[17] T. J. Chin. A multiple hypothesis tracker for multitarget tracking with multiple simultaneous measurements[J].IEEE Journal of Selected Topics in Signal Processing,2013,7(3):448-460.
[18] T. Sathyan,A. Sinha,T. Kirubarajan. MDA-based data association with prior track information for passive multitarget tracking[J]. IEEE Transactions on Aerospace and Electronic Systems,Jan. 2011,47(1):539-556.
[2] Vercauteren T,Guo D,Wang X. Joint Multiple Target Tracking and Classification in Collaborative Sensor Networks[J]. IEEE Journal on Selected Areas in Communications,2005,23(4):714-723.
[3] Lundquist C,Hammarstrand L,Gustafsson F. Road Intensity Based Mapping Using radar Measurements with a Probability Hypothesis Density Filter[J]. Multi-target Tracking[J]. IEEE Transactions on Aerospace and Electronic Systems,2006,42(3):778-795.
[4] Mei W,Shan G L,Li X R. Simultaneous Tracking and Classification:A Modularized Scheme[J]. IEEE Transactions on Aerospace and Electronic Systems,2007,43(2):581-599.
[5] Mahler R. PHD Filters of Higher Order in Target Number[J]. IEEE Transactions on Aerospace and Electronic Systems,2007,43(4):1523-1543.
[6]连峰.基于随机有限集的多目标跟踪方法研究[D].西安交通大学,2009.
[7] Clark D,Ristic B,Vo B N,Vo B T. Bayesian Multi-object Filtering with Amplitude Feature Likelihood for Unknown Object SNR[J]. IEEE Transactions on Signal Processing,2010,58(1):26-37.
[8] Rezaeian M,Vo B N. Error Bounds for Joint Detection and Estimation of a Single Object with Random Finite Set Observation[J]. IEEE Transactions on Signal Processing,2010,58(3):1493-1506.
[9] Vo B N,Vo B T,Pham N T,Suter D. Joint Detection and Estimation of Multiple Objects from Image Observations[J]. IEEE Transactions on Signal Processing,2010,58(10):5129-5141.
[10] Mahler R,Vo B T,Vo B N. CPHD Filtering with Unknown Clutter Rate and Detection Profile[J]. IEEE Transactions on Signal Processing,2011,59(8):3497-3513.
[11] Ristic B. Target Classification with Imprecise Likelihoods:Mahler’s Approach[J]. IEEE Transactions on Aerospace and Electronic Systems, 2011, 47(2):1530-1534.
[12] Vo B T,Clark D,Vo B N,Ristic B. Bernoulli ForwardBackward Smoothing for Joint Target Detection and Tracking[J]. IEEE Transactions on Signal Processing,2011,59(9):4473-4477.
[13]杨峰,王永齐,梁彦,潘泉.基于概率假设密度滤波方法的多目标跟踪技术综述[J].自动化学报,2013,39(11):1944-1956.
[14]李鹏.基于随机有限集的多扩展目标跟踪和航迹维持算法研究[D].江南大学,2018.
[15]单甘霖,梅卫,王春平.联合目标跟踪与分类技术的进展及存在问题[J].兵工学报,2007,28(6):733-738.
[16]杨威.基于有限集统计学理论的机动目标联合检测、跟踪与分类技术研究[D].国防科学技术大学,2012.
[17] T. J. Chin. A multiple hypothesis tracker for multitarget tracking with multiple simultaneous measurements[J].IEEE Journal of Selected Topics in Signal Processing,2013,7(3):448-460.
[18] T. Sathyan,A. Sinha,T. Kirubarajan. MDA-based data association with prior track information for passive multitarget tracking[J]. IEEE Transactions on Aerospace and Electronic Systems,Jan. 2011,47(1):539-556.