The Kernel-SME Filter for Multiple Target Tracking
Abstract
We present a novel method called Kernel-SME filter for tracking multiple targets when the association of the measurements to the targets is unknown. The method is a further development of the Symmetric Measurement Equation (SME) filter, which removes the data association uncertainty of the original measurement equation with the help of a symmetric transformation. The underlying idea of the Kernel-SME filter is to construct a symmetric transformation by means of mapping the measurements to a Gaussian mixture. This transformation is scalable to a large number of targets and allows for deriving a Gaussian state estimator that has a cubic time complexity in the number of targets.
- Publication:
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arXiv e-prints
- Pub Date:
- December 2012
- DOI:
- 10.48550/arXiv.1212.5882
- arXiv:
- arXiv:1212.5882
- Bibcode:
- 2012arXiv1212.5882B
- Keywords:
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- Computer Science - Systems and Control