基于最优分配的多目标滤波系统性能评估

Performance evaluation of multi-object filter system based on the optimal assignment

针对现有多目标滤波性能评估方法中存在的目标源分配不合理问题,提出一种新的目标源最优分配方法。所提方法首先利用估计目标的协方差矩阵和标准椭球波门初步检测出虚假估计和漏检目标,然后利用最优分配法完成剩余估计目标和剩余源目标间的分配。由于采用马氏距离测度和标准椭球波门,使得目标源分配不受量纲选取的影响且与具体应用背景无关。在此基础上,推广了一种多目标误差距离测度对多目标滤波性能进行评估。实验分析和比较验证了所提方法的合理有效性。

A novel estimate-to-truth assignment algorithm based on the optimal assignment is proposed for performance evaluation of multi-object filter. The corresponding covariance matrices of the estimates are used to detect a part of false estimates and missing objects based on the standard elliptical gating technique. Then, the residual estimate and object set are assigned based on the optimal assignment. Since the Mahalanobis distance and the standard elliptical gating solution are used in the process of assignment, the novel assignment algorithm avoids scaling problems and it is unrelated with the concrete applications. To evaluate the multi-object filters, a multi-object miss-distance is generalized. Numerical analyses verify the validity of the proposed assignment algo- rithm and the defined measures are shown to be effective in capturing the accuracy of the multi-object filters.