UPDATING INTENSITIES IN A PHD FILTER BASED ON A SENSOR TRACK ID

摘要

In one embodiment, a method of tracking multiple objects with a probabilistic hypothesis density filter is provided. The method includes obtaining measurements corresponding to a first object with at least one sensor, the at least one sensor providing one or more first track IDs for the measurements. A Tk+1 first predicted intensity is generated for the first object based on a Tk first track intensity. A Tk+1 measurement from a first sensor of the at least one sensors is obtained, the first sensor providing a second track ID for the Tk+1 measurement. The second track ID is compared to the one or more first track IDs, and the Tk+1 first predicted intensity is selectively updated with the Tk+1 measurement based on whether the second track ID matches any of the one or more first track IDs to generate a Tk+1 first measurement-to-track intensity for the first object.

主权项

1. A method of tracking multiple objects with a probabilistic hypothesis density filter, the method comprising:
obtaining a plurality of measurements corresponding to a first object with at least one sensor, the at least one sensor providing one or more first track IDs for the plurality of measurements; generating a Tk first track intensity for the first object based on the plurality of measurements, the Tk first track intensity including a weight, a state mean vector, and a state covariance matrix of statistics of a track of the first object at time Tk; generating a Tk+1 first predicted intensity for the first object based on the Tk first track intensity, the Tk+1 first predicted intensity corresponding to time Tk+1; obtaining a Tk+1 measurement from a first sensor of the at least one sensors, the first sensor providing a second track ID for the Tk+1 measurement, wherein the Tk+1 measurement corresponds to time Tk+1; comparing the second track ID to the one or more first track IDs; and selectively updating the Tk+1 first predicted intensity with the Tk+1 measurement based on whether the second track ID matches any of the one or more first track IDs to generate a Tk+1 first measurement-to-track intensity for the first object at time Tk+1.