Decentralized Poisson Multi-Bernoulli Filtering for Vehicle Tracking

• Main Authors: Markus Frohle, Karl Granstrom, Henk Wymeersch
• Format: Article
• Language: English
• Published: IEEE 2020-01-01
• Series: IEEE Access
• Subjects: Gaussian processes; multitarget tracking; posterior fusion; target extent
• Online Access: https://ieeexplore.ieee.org/document/9136678/
• ISSN: 2169-3536

A decentralized Poisson multi-Bernoulli filter is proposed to track multiple vehicles using multiple high-resolution sensors. Independent filters estimate the vehicles' presence, state, and shape using a Gaussian process extent model; a decentralized filter is realized through fusion of the filters posterior densities. An efficient implementation is achieved by parametric state representation, utilization of single hypothesis tracks, and fusion of vehicle information based on a fusion mapping. Numerical results demonstrate the performance.