The netted radar system(NRS)has been proved to possess unique advantages in anti-jamming and improving target tracking performance.Effective resource management can greatly ensure the combat capability of the NRS.In t...The netted radar system(NRS)has been proved to possess unique advantages in anti-jamming and improving target tracking performance.Effective resource management can greatly ensure the combat capability of the NRS.In this paper,based on the netted collocated multiple input multiple output(CMIMO)radar,an effective joint target assignment and power allocation(JTAPA)strategy for tracking multi-targets under self-defense blanket jamming is proposed.An architecture based on the distributed fusion is used in the radar network to estimate target state parameters.By deriving the predicted conditional Cramer-Rao lower bound(PC-CRLB)based on the obtained state estimation information,the objective function is formulated.To maximize the worst case tracking accuracy,the proposed JTAPA strategy implements an online target assignment and power allocation of all active nodes,subject to some resource constraints.Since the formulated JTAPA is non-convex,we propose an efficient two-step solution strategy.In terms of the simulation results,the proposed algorithm can effectively improve tracking performance in the worst case.展开更多
To improve the tracking accuracy of persons in the surveillance video,we proposed an algorithm for multi-target tracking persons based on deep learning.In this paper,we used You Only Look Once v5(YOLOv5)to obtain pers...To improve the tracking accuracy of persons in the surveillance video,we proposed an algorithm for multi-target tracking persons based on deep learning.In this paper,we used You Only Look Once v5(YOLOv5)to obtain person targets of each frame in the video and used Simple Online and Realtime Tracking with a Deep Association Metric(DeepSORT)to do cascade matching and Intersection Over Union(IOU)matching of person targets between different frames.To solve the IDSwitch problem caused by the low feature extraction ability of the Re-Identification(ReID)network in the process of cascade matching,we introduced Spatial Relation-aware Global Attention(RGA-S)and Channel Relation-aware Global Attention(RGA-C)attention mechanisms into the network structure.The pre-training weights are loaded for Transfer Learning training on the dataset CUHK03.To enhance the discrimination performance of the network,we proposed a new loss function design method,which introduces the Hard-Negative-Mining way into the benchmark triplet loss.To improve the classification accuracy of the network,we introduced a Label-Smoothing regularization method to the cross-entropy loss.To facilitate the model’s convergence stability and convergence speed at the early training stage and to prevent the model from oscillating around the global optimum due to excessive learning rate at the later stage of training,this paper proposed a learning rate regulation method combining Linear-Warmup and exponential decay.The experimental results on CUHK03 show that the mean Average Precision(mAP)of the improved ReID network is 76.5%.The Top 1 is 42.5%,the Top 5 is 65.4%,and the Top 10 is 74.3%in Cumulative Matching Characteristics(CMC);Compared with the original algorithm,the tracking accuracy of the optimized DeepSORT tracking algorithm is improved by 2.5%,the tracking precision is improved by 3.8%.The number of identity switching is reduced by 25%.The algorithm effectively alleviates the IDSwitch problem,improves the tracking accuracy of persons,and has a high practical value.展开更多
Multi-range-false-target(MRFT) jamming is particularly challenging for tracking radar due to the dense clutter and the repeated multiple false targets. The conventional association-based multi-target tracking(MTT) met...Multi-range-false-target(MRFT) jamming is particularly challenging for tracking radar due to the dense clutter and the repeated multiple false targets. The conventional association-based multi-target tracking(MTT) methods suffer from high computational complexity and limited usage in the presence of MRFT jamming.In order to solve the above problems, an efficient and adaptable probability hypothesis density(PHD) filter is proposed. Based on the gating strategy, the obtained measurements are firstly classified into the generalized newborn target and the existing target measurements. The two categories of measurements are independently used in the decomposed form of the PHD filter. Meanwhile,an amplitude feature is used to suppress the dense clutter. In addition, an MRFT jamming suppression algorithm is introduced to the filter. Target amplitude information and phase quantization information are jointly used to deal with MRFT jamming and the clutter by modifying the particle weights of the generalized newborn targets. Simulations demonstrate the proposed algorithm can obtain superior correct discrimination rate of MRFT, and high-accuracy tracking performance with high computational efficiency in the presence of MRFT jamming in the dense clutter.展开更多
This paper proposed a robust method based on the definition of Mahalanobis distance to track ground moving target. The feature and the geometry of airborne ground moving target tracking systems are studied at first. B...This paper proposed a robust method based on the definition of Mahalanobis distance to track ground moving target. The feature and the geometry of airborne ground moving target tracking systems are studied at first. Based on this feature, the assignment relation of time-nearby target is calculated via Mahalanobis distance, and then the corresponding transformation formula is deduced. The simulation results show the correctness and effectiveness of the proposed method.展开更多
This paper introduces a new algorithm for estimating the relative pose of a moving camera using consecutive frames of a video sequence. State-of-the-art algorithms for calculating the relative pose between two images ...This paper introduces a new algorithm for estimating the relative pose of a moving camera using consecutive frames of a video sequence. State-of-the-art algorithms for calculating the relative pose between two images use matching features to estimate the essential matrix. The essential matrix is then decomposed into the relative rotation and normalized translation between frames. To be robust to noise and feature match outliers, these methods generate a large number of essential matrix hypotheses from randomly selected minimal subsets of feature pairs, and then score these hypotheses on all feature pairs. Alternatively, the algorithm introduced in this paper calculates relative pose hypotheses by directly optimizing the rotation and normalized translation between frames, rather than calculating the essential matrix and then performing the decomposition. The resulting algorithm improves computation time by an order of magnitude. If an inertial measurement unit(IMU) is available, it is used to seed the optimizer, and in addition, we reuse the best hypothesis at each iteration to seed the optimizer thereby reducing the number of relative pose hypotheses that must be generated and scored. These advantages greatly speed up performance and enable the algorithm to run in real-time on low cost embedded hardware. We show application of our algorithm to visual multi-target tracking(MTT) in the presence of parallax and demonstrate its real-time performance on a 640 × 480 video sequence captured on a UAV. Video results are available at https://youtu.be/Hh K-p2 h XNn U.展开更多
Much research mainly focuses on the batch processing method (e.g. maximum likelihood method) when bearings-only multiple targets tracking of bistatic sonar system is considered. In this paper, the idea of recursive ...Much research mainly focuses on the batch processing method (e.g. maximum likelihood method) when bearings-only multiple targets tracking of bistatic sonar system is considered. In this paper, the idea of recursive processing method is presented and employed, and corresponding data association algorithms, i.e. a multi-objective ant-colony-based optimization algorithm and an easy fast assignment algorithm are developed to solve the measurements-to-measurements and measurements-to-tracks data association problems of bistatic sonar system, respectively. Monte-Carlo simulations are induced to evaluate the effectiveness of the proposed methods.展开更多
This paper introduces an approach for visual tracking of multi-target with occlusion occurrence. Based on the author's previous work in which the Overlap Coefficient (OC) is used to detect the occlusion, in this p...This paper introduces an approach for visual tracking of multi-target with occlusion occurrence. Based on the author's previous work in which the Overlap Coefficient (OC) is used to detect the occlusion, in this paper a method of combining Bhattacharyya Coefficient (BC) and Kalman filter innovation term is proposed as the criteria for jointly detecting the occlusion occurrence. Fragmentation of target is introduced in order to closely monitor the occlusion development. In the course of occlusion, the Kalman predictor is applied to determine the location of the occluded target, and the criterion for checking the re-appearance of the occluded target is also presented. The proposed approach is put to test on a standard video sequence, suggesting the satisfactory performance in multi-target tracking.展开更多
Compared with the traditional phased array radar, the co-located multiple-input multiple-output(MIMO) radar is able to transmit orthogonal waveforms to form different illuminating modes, providing a larger freedom deg...Compared with the traditional phased array radar, the co-located multiple-input multiple-output(MIMO) radar is able to transmit orthogonal waveforms to form different illuminating modes, providing a larger freedom degree in radar resource management. In order to implement the effective resource management for the co-located MIMO radar in multi-target tracking,this paper proposes a resource management optimization model,where the system resource consumption and the tracking accuracy requirements are considered comprehensively. An adaptive resource management algorithm for the co-located MIMO radar is obtained based on the proposed model, where the sub-array number, sampling period, transmitting energy, beam direction and working mode are adaptively controlled to realize the time-space resource joint allocation. Simulation results demonstrate the superiority of the proposed algorithm. Furthermore, the co-located MIMO radar using the proposed algorithm can satisfy the predetermined tracking accuracy requirements with less comprehensive cost compared with the phased array radar.展开更多
<div style="text-align:justify;"> In recent years, multi-target tracking technology based on Gaussian Mixture- Probability Hypothesis Density (GM-PHD) filtering has become a hot field of information fu...<div style="text-align:justify;"> In recent years, multi-target tracking technology based on Gaussian Mixture- Probability Hypothesis Density (GM-PHD) filtering has become a hot field of information fusion research. This article outlines the generation and development of multi-target tracking methods based on GM-PHD filtering, and the principle and implementation method of GM-PHD filtering are explained, and the application status based on GM-PHD filtering is summarized, and the key issues of the development of GM-PHD filtering technology are analyzed. </div>展开更多
In the technique of video multi-target tracking,the common particle filter can not deal well with uncertain relations among multiple targets.To solve this problem,many researchers use data association method to reduce...In the technique of video multi-target tracking,the common particle filter can not deal well with uncertain relations among multiple targets.To solve this problem,many researchers use data association method to reduce the multi-target uncertainty.However,the traditional data association method is difficult to track accurately when the target is occluded.To remove the occlusion in the video,combined with the theory of data association,this paper adopts the probabilistic graphical model for multi-target modeling and analysis of the targets relationship in the particle filter framework.Ex-perimental results show that the proposed algorithm can solve the occlusion problem better compared with the traditional algorithm.展开更多
A robust attitude tracking control scheme for spacecraft formation flying is presented. The leader spacecraft with a rapid mobile antenna and a camera is modeled. While the camera is tracking the ground target, the an...A robust attitude tracking control scheme for spacecraft formation flying is presented. The leader spacecraft with a rapid mobile antenna and a camera is modeled. While the camera is tracking the ground target, the antenna is tracking the follower spacecraft. By an angular velocity constraint and an angular constraint, two methods are proposed to compute the reference attitude profiles of the camera and antenna, respectively. To simplify the control design problem, this paper first derives the desired inverse system (DIS), which can convert the attitude tracking problem of 3D space into the regulator problem. Based on DIS and sliding mode control (SMC), a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance. By Lyapunov stability theory, the closed loop system stability can be achieved. The numerical simulations show that the proposed robust control scheme exhibits significant advantages for the multi-target attitude tracking of a two-spacecraft formation.展开更多
Public benchmark datasets have been widely used to evaluate multi-target tracking algorithms. Ideally, the benchmark datasets should include the video scenes of all scenarios that need to be tested. However, a limited...Public benchmark datasets have been widely used to evaluate multi-target tracking algorithms. Ideally, the benchmark datasets should include the video scenes of all scenarios that need to be tested. However, a limited amount of the currently available benchmark datasets does not comprehensively cover all necessary test scenarios. This limits the evaluation of multitarget tracking algorithms with various test scenarios. This paper introduced a computer simulation model that generates benchmark datasets for evaluating multi-target tracking algorithms with the complexity of multitarget tracking scenarios directly controlled by simulation inputs such as target birth and death rates, target movement, the rates of target merges and splits, target appearances, and image noise types and levels. The simulation model generated a simulated video and also provides the ground-truth target tracking for the simulated video, so the evaluation of multitarget tracking algorithms can be easily performed without any manual video annotation process. We demonstrated the use of the proposed simulation model for evaluating tracking-by-detection algorithms and filtering-based tracking algorithms.展开更多
Aiming at the problem of strong nonlinear and effective echo confirm of multi-target tracking system in clutters environment, a novel maneuvering multitarget tracking algorithm based on modified generalized probabilis...Aiming at the problem of strong nonlinear and effective echo confirm of multi-target tracking system in clutters environment, a novel maneuvering multitarget tracking algorithm based on modified generalized probabilistic data association is proposed in this paper. In view of the advantage of particle filter which can deal with the nonlinear and non-Gaussian system, it is introduced into the framework of generalized probabilistic data association to calculate the residual and residual covariance matrices, and the interconnection probability is further optimized. On that basis, the dynamic combination of particle filter and generalized probabilistic data association method is realized in the new algorithm. The theoretical analysis and experimental results show the filtering precision is obviously improved with respect to the tradition method using suboptimal filter.展开更多
With the great development of Multi-Target Tracking(MTT)technologies,many MTT algorithms have been proposed with their own advantages and disadvantages.Due to the fact that requirements to MTT algorithms vary from the...With the great development of Multi-Target Tracking(MTT)technologies,many MTT algorithms have been proposed with their own advantages and disadvantages.Due to the fact that requirements to MTT algorithms vary from the application scenarios,performance evaluation is significant to select an appropriate MTT algorithm for the specific application scenario.In this paper,we propose a performance evaluation method on the sets of trajectories with temporal dimension specifics to compare the estimated trajectories with the true trajectories.The proposed method evaluates the estimate results of an MTT algorithm in terms of tracking accuracy,continuity and clarity.Furthermore,its computation is based on a multi-dimensional assignment problem,which is formulated as a computable form using linear programming.To enhance the influence of recent estimated states of the trajectories in the evaluation,an attention function is used to reweight the trajectory errors at different time steps.Finally,simulation results show that the proposed performance evaluation method is able to evaluate many aspects of the MTT algorithms.These evaluations are worthy for selecting suitable MTT algorithms in different application scenarios.展开更多
Joint probabilistic data association is an effective method for tracking multiple targets in clutter, but only the target kinematic information is used in measure-to-track association. If the kinematic likelihoods are...Joint probabilistic data association is an effective method for tracking multiple targets in clutter, but only the target kinematic information is used in measure-to-track association. If the kinematic likelihoods are similar for different closely spaced targets, there is ambiguity in using the kinematic information alone; the correct association probability will decrease in conventional joint probabilistic data association algorithm and track coalescence will occur easily. A modified algorithm of joint probabilistic data association with classification-aided is presented, which avoids track coalescence when tracking multiple neighboring targets. Firstly, an identification matrix is defined, which is used to simplify validation matrix to decrease computational complexity. Then, target class information is integrated into the data association process. Performance comparisons with and without the use of class information in JPDA are presented on multiple closely spaced maneuvering targets tracking problem. Simulation results quantify the benefits of classification-aided JPDA for improved multiple targets tracking, especially in the presence of association uncertainty in the kinematic measurement and target maneuvering. Simulation results indicate that the algorithm is valid.展开更多
This paper presents augmented input estimation(AIE)for multiple maneuvering target tracking.Multi-target tracking(MTT)is based on two main parts,data association and estimation.In data association(DA),the best observa...This paper presents augmented input estimation(AIE)for multiple maneuvering target tracking.Multi-target tracking(MTT)is based on two main parts,data association and estimation.In data association(DA),the best observations are assigned to the considered tracks.In real conditions,the number of observations is more than targets and also locations of observations are often so scattered that the association between targets and observations cannot be done simply.In this case,for general MTT problems with unknown numbers of targets,we present a Markov chain Monte-Carlo DA(MCMCDA)algorithm that approximates the optimal Bayesian filter with low complexity in computations.After DA,estimation and tracking should be done.Since in general cases,many targets can have maneuvering motions,then AIE is proposed to cover both the non-maneuvering and maneuvering parts of motion and the maneuver detection procedure is eliminated.This model with an input estimation(IE)approach is a special augmentation in the state space model which considers both the state vector and the unknown input vector as a new augmented state vector.Some comparisons based on the Monte-Carlo simulations are also made to evaluate the performances of the proposed method and other older methods in MTT.展开更多
In the heavy clutter environment, the information capacity is large,the relationships among information are complicated, and track initiationoften has a high false alarm rate or missing alarm rate. Obviously, it is ad...In the heavy clutter environment, the information capacity is large,the relationships among information are complicated, and track initiationoften has a high false alarm rate or missing alarm rate. Obviously, it is adifficult task to get a high-quality track initiation in the limited measurementcycles. This paper studies the multi-target track initiation in heavy clutter.At first, a relaxed logic-based clutter filter algorithm is presented. In thealgorithm, the raw measurement is filtered by using the relaxed logic method.We not only design a kind of incremental and adaptive filtering gate, but alsoadd the angle extrapolation based on polynomial extrapolation. The algorithm eliminates most of the clutter and obtains the environment with highdetection rate and less clutter. Then, we propose a fuzzy sequential Houghtransform-based track initiation algorithm. The algorithm establishes a newmeshing rule according to system noise to balance the relationship between thegrid granularity and the track initiation quality. And a flexible superpositionmatrix based on fuzzy clustering is constructed, which avoids the transformation error caused by 0–1 voting method in traditional Hough transform.In addition, the algorithm allows the superposition matrixes of nonadjacentcycles to be associated to overcome the shortcoming that the track can’t beinitiated in time when the measurements appear in an intermittent way. Anda slope verification method is introduced to detect formation-intensive serialtracks. Last, the sliding window method is employed to feedback the trackinitiation results timely and confirm the track. Simulation results verify thatthe proposed algorithms can initiate the tracks accurately in heavy clutter.展开更多
Radio-frequency(RF) tomography is an emerging technology which derives targets location information by analyzing the changes of received signal strength(RSS) in wireless links. This paper presents and evaluates a nove...Radio-frequency(RF) tomography is an emerging technology which derives targets location information by analyzing the changes of received signal strength(RSS) in wireless links. This paper presents and evaluates a novel RF tomography system which is capable of detecting and tracking a time-varying number of targets in a cluttered indoor environment. The system incorporates an observation model based on RSS attenuation histogram and a multi-target tracking-by-detection filtering approach based on probability hypothesis density(PHD) filter. In addition, the sequential Monte Carlo method is applied to implement the multi-target filtering. To evaluate the tracking system, the experiments involving up to 3 targets were performed within an obstructed indoor area of 70 m2. The experimental results indicate that the proposed tracking system is capable of tracking a time-varying number of targets.展开更多
A novel disturbance decoupled filter (DDF) design scheme is presented. Firstly, the system with unknown input is translated into an equivalent system without unknown imputs by a simple algebraic transformation. Then, ...A novel disturbance decoupled filter (DDF) design scheme is presented. Firstly, the system with unknown input is translated into an equivalent system without unknown imputs by a simple algebraic transformation. Then, a new DDF design scheme, which is very simple, is proposed via innovations theorem. At last, the application of DDF to Maneuvering Targets Tracking is simulated and the simulation results show that DDF is suitable for high maneuvering cases.展开更多
基金National Natural Science Foundation of China(Grant No.62001506)to provide fund for conducting experiments。
文摘The netted radar system(NRS)has been proved to possess unique advantages in anti-jamming and improving target tracking performance.Effective resource management can greatly ensure the combat capability of the NRS.In this paper,based on the netted collocated multiple input multiple output(CMIMO)radar,an effective joint target assignment and power allocation(JTAPA)strategy for tracking multi-targets under self-defense blanket jamming is proposed.An architecture based on the distributed fusion is used in the radar network to estimate target state parameters.By deriving the predicted conditional Cramer-Rao lower bound(PC-CRLB)based on the obtained state estimation information,the objective function is formulated.To maximize the worst case tracking accuracy,the proposed JTAPA strategy implements an online target assignment and power allocation of all active nodes,subject to some resource constraints.Since the formulated JTAPA is non-convex,we propose an efficient two-step solution strategy.In terms of the simulation results,the proposed algorithm can effectively improve tracking performance in the worst case.
文摘To improve the tracking accuracy of persons in the surveillance video,we proposed an algorithm for multi-target tracking persons based on deep learning.In this paper,we used You Only Look Once v5(YOLOv5)to obtain person targets of each frame in the video and used Simple Online and Realtime Tracking with a Deep Association Metric(DeepSORT)to do cascade matching and Intersection Over Union(IOU)matching of person targets between different frames.To solve the IDSwitch problem caused by the low feature extraction ability of the Re-Identification(ReID)network in the process of cascade matching,we introduced Spatial Relation-aware Global Attention(RGA-S)and Channel Relation-aware Global Attention(RGA-C)attention mechanisms into the network structure.The pre-training weights are loaded for Transfer Learning training on the dataset CUHK03.To enhance the discrimination performance of the network,we proposed a new loss function design method,which introduces the Hard-Negative-Mining way into the benchmark triplet loss.To improve the classification accuracy of the network,we introduced a Label-Smoothing regularization method to the cross-entropy loss.To facilitate the model’s convergence stability and convergence speed at the early training stage and to prevent the model from oscillating around the global optimum due to excessive learning rate at the later stage of training,this paper proposed a learning rate regulation method combining Linear-Warmup and exponential decay.The experimental results on CUHK03 show that the mean Average Precision(mAP)of the improved ReID network is 76.5%.The Top 1 is 42.5%,the Top 5 is 65.4%,and the Top 10 is 74.3%in Cumulative Matching Characteristics(CMC);Compared with the original algorithm,the tracking accuracy of the optimized DeepSORT tracking algorithm is improved by 2.5%,the tracking precision is improved by 3.8%.The number of identity switching is reduced by 25%.The algorithm effectively alleviates the IDSwitch problem,improves the tracking accuracy of persons,and has a high practical value.
基金supported by the National Natural Science Foundation of China (11472214)。
文摘Multi-range-false-target(MRFT) jamming is particularly challenging for tracking radar due to the dense clutter and the repeated multiple false targets. The conventional association-based multi-target tracking(MTT) methods suffer from high computational complexity and limited usage in the presence of MRFT jamming.In order to solve the above problems, an efficient and adaptable probability hypothesis density(PHD) filter is proposed. Based on the gating strategy, the obtained measurements are firstly classified into the generalized newborn target and the existing target measurements. The two categories of measurements are independently used in the decomposed form of the PHD filter. Meanwhile,an amplitude feature is used to suppress the dense clutter. In addition, an MRFT jamming suppression algorithm is introduced to the filter. Target amplitude information and phase quantization information are jointly used to deal with MRFT jamming and the clutter by modifying the particle weights of the generalized newborn targets. Simulations demonstrate the proposed algorithm can obtain superior correct discrimination rate of MRFT, and high-accuracy tracking performance with high computational efficiency in the presence of MRFT jamming in the dense clutter.
基金Supported by the National Natural Science Foundation of China Youth Science Fund Project(Nos.62101405,61372185)
文摘This paper proposed a robust method based on the definition of Mahalanobis distance to track ground moving target. The feature and the geometry of airborne ground moving target tracking systems are studied at first. Based on this feature, the assignment relation of time-nearby target is calculated via Mahalanobis distance, and then the corresponding transformation formula is deduced. The simulation results show the correctness and effectiveness of the proposed method.
基金funded by the Center for Unmanned Aircraft Systems(C-UAS)a National Science Foundation Industry/University Cooperative Research Center(I/UCRC)under NSF award Numbers IIP-1161036 and CNS-1650547along with significant contributions from C-UAS industry members。
文摘This paper introduces a new algorithm for estimating the relative pose of a moving camera using consecutive frames of a video sequence. State-of-the-art algorithms for calculating the relative pose between two images use matching features to estimate the essential matrix. The essential matrix is then decomposed into the relative rotation and normalized translation between frames. To be robust to noise and feature match outliers, these methods generate a large number of essential matrix hypotheses from randomly selected minimal subsets of feature pairs, and then score these hypotheses on all feature pairs. Alternatively, the algorithm introduced in this paper calculates relative pose hypotheses by directly optimizing the rotation and normalized translation between frames, rather than calculating the essential matrix and then performing the decomposition. The resulting algorithm improves computation time by an order of magnitude. If an inertial measurement unit(IMU) is available, it is used to seed the optimizer, and in addition, we reuse the best hypothesis at each iteration to seed the optimizer thereby reducing the number of relative pose hypotheses that must be generated and scored. These advantages greatly speed up performance and enable the algorithm to run in real-time on low cost embedded hardware. We show application of our algorithm to visual multi-target tracking(MTT) in the presence of parallax and demonstrate its real-time performance on a 640 × 480 video sequence captured on a UAV. Video results are available at https://youtu.be/Hh K-p2 h XNn U.
基金This paper was supported by the Natural Science Foundation of Jiangsu Province, China (No. BK2004132).
文摘Much research mainly focuses on the batch processing method (e.g. maximum likelihood method) when bearings-only multiple targets tracking of bistatic sonar system is considered. In this paper, the idea of recursive processing method is presented and employed, and corresponding data association algorithms, i.e. a multi-objective ant-colony-based optimization algorithm and an easy fast assignment algorithm are developed to solve the measurements-to-measurements and measurements-to-tracks data association problems of bistatic sonar system, respectively. Monte-Carlo simulations are induced to evaluate the effectiveness of the proposed methods.
基金Supported by the Program for Technology Innovation Team of Ningbo Government (No. 2011B81002)the Ningbo University Science Research Foundation (No.xkl11075)
文摘This paper introduces an approach for visual tracking of multi-target with occlusion occurrence. Based on the author's previous work in which the Overlap Coefficient (OC) is used to detect the occlusion, in this paper a method of combining Bhattacharyya Coefficient (BC) and Kalman filter innovation term is proposed as the criteria for jointly detecting the occlusion occurrence. Fragmentation of target is introduced in order to closely monitor the occlusion development. In the course of occlusion, the Kalman predictor is applied to determine the location of the occluded target, and the criterion for checking the re-appearance of the occluded target is also presented. The proposed approach is put to test on a standard video sequence, suggesting the satisfactory performance in multi-target tracking.
基金supported by the National Natural Science Fundation of China (61671137)。
文摘Compared with the traditional phased array radar, the co-located multiple-input multiple-output(MIMO) radar is able to transmit orthogonal waveforms to form different illuminating modes, providing a larger freedom degree in radar resource management. In order to implement the effective resource management for the co-located MIMO radar in multi-target tracking,this paper proposes a resource management optimization model,where the system resource consumption and the tracking accuracy requirements are considered comprehensively. An adaptive resource management algorithm for the co-located MIMO radar is obtained based on the proposed model, where the sub-array number, sampling period, transmitting energy, beam direction and working mode are adaptively controlled to realize the time-space resource joint allocation. Simulation results demonstrate the superiority of the proposed algorithm. Furthermore, the co-located MIMO radar using the proposed algorithm can satisfy the predetermined tracking accuracy requirements with less comprehensive cost compared with the phased array radar.
文摘<div style="text-align:justify;"> In recent years, multi-target tracking technology based on Gaussian Mixture- Probability Hypothesis Density (GM-PHD) filtering has become a hot field of information fusion research. This article outlines the generation and development of multi-target tracking methods based on GM-PHD filtering, and the principle and implementation method of GM-PHD filtering are explained, and the application status based on GM-PHD filtering is summarized, and the key issues of the development of GM-PHD filtering technology are analyzed. </div>
基金Supported by the National High Technology Research and Development Program of China (No. 2007AA11Z227)the Natural Science Foundation of Jiangsu Province of China(No. BK2009352)the Fundamental Research Funds for the Central Universities of China (No. 2010B16414)
文摘In the technique of video multi-target tracking,the common particle filter can not deal well with uncertain relations among multiple targets.To solve this problem,many researchers use data association method to reduce the multi-target uncertainty.However,the traditional data association method is difficult to track accurately when the target is occluded.To remove the occlusion in the video,combined with the theory of data association,this paper adopts the probabilistic graphical model for multi-target modeling and analysis of the targets relationship in the particle filter framework.Ex-perimental results show that the proposed algorithm can solve the occlusion problem better compared with the traditional algorithm.
基金Project supported by the National Natural Science Foundation of China (No.10672084)the Research Fund for the Doctoral Program of Higher Education (No.20060003097)
文摘A robust attitude tracking control scheme for spacecraft formation flying is presented. The leader spacecraft with a rapid mobile antenna and a camera is modeled. While the camera is tracking the ground target, the antenna is tracking the follower spacecraft. By an angular velocity constraint and an angular constraint, two methods are proposed to compute the reference attitude profiles of the camera and antenna, respectively. To simplify the control design problem, this paper first derives the desired inverse system (DIS), which can convert the attitude tracking problem of 3D space into the regulator problem. Based on DIS and sliding mode control (SMC), a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance. By Lyapunov stability theory, the closed loop system stability can be achieved. The numerical simulations show that the proposed robust control scheme exhibits significant advantages for the multi-target attitude tracking of a two-spacecraft formation.
文摘Public benchmark datasets have been widely used to evaluate multi-target tracking algorithms. Ideally, the benchmark datasets should include the video scenes of all scenarios that need to be tested. However, a limited amount of the currently available benchmark datasets does not comprehensively cover all necessary test scenarios. This limits the evaluation of multitarget tracking algorithms with various test scenarios. This paper introduced a computer simulation model that generates benchmark datasets for evaluating multi-target tracking algorithms with the complexity of multitarget tracking scenarios directly controlled by simulation inputs such as target birth and death rates, target movement, the rates of target merges and splits, target appearances, and image noise types and levels. The simulation model generated a simulated video and also provides the ground-truth target tracking for the simulated video, so the evaluation of multitarget tracking algorithms can be easily performed without any manual video annotation process. We demonstrated the use of the proposed simulation model for evaluating tracking-by-detection algorithms and filtering-based tracking algorithms.
文摘Aiming at the problem of strong nonlinear and effective echo confirm of multi-target tracking system in clutters environment, a novel maneuvering multitarget tracking algorithm based on modified generalized probabilistic data association is proposed in this paper. In view of the advantage of particle filter which can deal with the nonlinear and non-Gaussian system, it is introduced into the framework of generalized probabilistic data association to calculate the residual and residual covariance matrices, and the interconnection probability is further optimized. On that basis, the dynamic combination of particle filter and generalized probabilistic data association method is realized in the new algorithm. The theoretical analysis and experimental results show the filtering precision is obviously improved with respect to the tradition method using suboptimal filter.
基金supported by the National Natural Science Foundation of China(No.62276204,No.62306222)the Natural Science Basic Research Program of Shaanxi,China(No.2023-JC-QN-0710)。
文摘With the great development of Multi-Target Tracking(MTT)technologies,many MTT algorithms have been proposed with their own advantages and disadvantages.Due to the fact that requirements to MTT algorithms vary from the application scenarios,performance evaluation is significant to select an appropriate MTT algorithm for the specific application scenario.In this paper,we propose a performance evaluation method on the sets of trajectories with temporal dimension specifics to compare the estimated trajectories with the true trajectories.The proposed method evaluates the estimate results of an MTT algorithm in terms of tracking accuracy,continuity and clarity.Furthermore,its computation is based on a multi-dimensional assignment problem,which is formulated as a computable form using linear programming.To enhance the influence of recent estimated states of the trajectories in the evaluation,an attention function is used to reweight the trajectory errors at different time steps.Finally,simulation results show that the proposed performance evaluation method is able to evaluate many aspects of the MTT algorithms.These evaluations are worthy for selecting suitable MTT algorithms in different application scenarios.
基金Defense Advanced Research Project "the Techniques of Information Integrated Processing and Fusion" in the Eleventh Five-Year Plan (513060302).
文摘Joint probabilistic data association is an effective method for tracking multiple targets in clutter, but only the target kinematic information is used in measure-to-track association. If the kinematic likelihoods are similar for different closely spaced targets, there is ambiguity in using the kinematic information alone; the correct association probability will decrease in conventional joint probabilistic data association algorithm and track coalescence will occur easily. A modified algorithm of joint probabilistic data association with classification-aided is presented, which avoids track coalescence when tracking multiple neighboring targets. Firstly, an identification matrix is defined, which is used to simplify validation matrix to decrease computational complexity. Then, target class information is integrated into the data association process. Performance comparisons with and without the use of class information in JPDA are presented on multiple closely spaced maneuvering targets tracking problem. Simulation results quantify the benefits of classification-aided JPDA for improved multiple targets tracking, especially in the presence of association uncertainty in the kinematic measurement and target maneuvering. Simulation results indicate that the algorithm is valid.
文摘This paper presents augmented input estimation(AIE)for multiple maneuvering target tracking.Multi-target tracking(MTT)is based on two main parts,data association and estimation.In data association(DA),the best observations are assigned to the considered tracks.In real conditions,the number of observations is more than targets and also locations of observations are often so scattered that the association between targets and observations cannot be done simply.In this case,for general MTT problems with unknown numbers of targets,we present a Markov chain Monte-Carlo DA(MCMCDA)algorithm that approximates the optimal Bayesian filter with low complexity in computations.After DA,estimation and tracking should be done.Since in general cases,many targets can have maneuvering motions,then AIE is proposed to cover both the non-maneuvering and maneuvering parts of motion and the maneuver detection procedure is eliminated.This model with an input estimation(IE)approach is a special augmentation in the state space model which considers both the state vector and the unknown input vector as a new augmented state vector.Some comparisons based on the Monte-Carlo simulations are also made to evaluate the performances of the proposed method and other older methods in MTT.
基金This work is supported in part by the Fundamental Research Funds for the Central Universities,Jilin University under Grant No.93K172021K04.
文摘In the heavy clutter environment, the information capacity is large,the relationships among information are complicated, and track initiationoften has a high false alarm rate or missing alarm rate. Obviously, it is adifficult task to get a high-quality track initiation in the limited measurementcycles. This paper studies the multi-target track initiation in heavy clutter.At first, a relaxed logic-based clutter filter algorithm is presented. In thealgorithm, the raw measurement is filtered by using the relaxed logic method.We not only design a kind of incremental and adaptive filtering gate, but alsoadd the angle extrapolation based on polynomial extrapolation. The algorithm eliminates most of the clutter and obtains the environment with highdetection rate and less clutter. Then, we propose a fuzzy sequential Houghtransform-based track initiation algorithm. The algorithm establishes a newmeshing rule according to system noise to balance the relationship between thegrid granularity and the track initiation quality. And a flexible superpositionmatrix based on fuzzy clustering is constructed, which avoids the transformation error caused by 0–1 voting method in traditional Hough transform.In addition, the algorithm allows the superposition matrixes of nonadjacentcycles to be associated to overcome the shortcoming that the track can’t beinitiated in time when the measurements appear in an intermittent way. Anda slope verification method is introduced to detect formation-intensive serialtracks. Last, the sliding window method is employed to feedback the trackinitiation results timely and confirm the track. Simulation results verify thatthe proposed algorithms can initiate the tracks accurately in heavy clutter.
文摘Radio-frequency(RF) tomography is an emerging technology which derives targets location information by analyzing the changes of received signal strength(RSS) in wireless links. This paper presents and evaluates a novel RF tomography system which is capable of detecting and tracking a time-varying number of targets in a cluttered indoor environment. The system incorporates an observation model based on RSS attenuation histogram and a multi-target tracking-by-detection filtering approach based on probability hypothesis density(PHD) filter. In addition, the sequential Monte Carlo method is applied to implement the multi-target filtering. To evaluate the tracking system, the experiments involving up to 3 targets were performed within an obstructed indoor area of 70 m2. The experimental results indicate that the proposed tracking system is capable of tracking a time-varying number of targets.
文摘A novel disturbance decoupled filter (DDF) design scheme is presented. Firstly, the system with unknown input is translated into an equivalent system without unknown imputs by a simple algebraic transformation. Then, a new DDF design scheme, which is very simple, is proposed via innovations theorem. At last, the application of DDF to Maneuvering Targets Tracking is simulated and the simulation results show that DDF is suitable for high maneuvering cases.