A specialized Hungarian algorithm was developed here for the maximum likelihood data association problem with two implementation versions due to presence of false alarms and missed detections. The maximum likelihood d...A specialized Hungarian algorithm was developed here for the maximum likelihood data association problem with two implementation versions due to presence of false alarms and missed detections. The maximum likelihood data association problem is formulated as a bipartite weighted matching problem. Its duality and the optimality conditions are given. The Hungarian algorithm with its computational steps, data structure and computational complexity is presented. The two implementation versions, Hungarian forest （HF） algorithm and Hungarian tree （HT） algorithm, and their combination with the naYve auction initialization are discussed. The computational results show that HT algorithm is slightly faster than HF algorithm and they are both superior to the classic Munkres algorithm.展开更多
Since the joint probabilistic data association(JPDA)algorithm results in calculation explosion with the increasing number of targets,a multi-target tracking algorithm based on Gaussian mixture model(GMM)clustering is ...Since the joint probabilistic data association(JPDA)algorithm results in calculation explosion with the increasing number of targets,a multi-target tracking algorithm based on Gaussian mixture model(GMM)clustering is proposed.The algorithm is used to cluster the measurements,and the association matrix between measurements and tracks is constructed by the posterior probability.Compared with the traditional data association algorithm,this algorithm has better tracking performance and less computational complexity.Simulation results demonstrate the effectiveness of the proposed algorithm.展开更多
针对杂波环境下的多目标跟踪数据互联问题,该文提出基于全邻模糊聚类的联合概率数据互联算法(Joint Probabilistic Data Association algorithm based on All-Neighbor Fuzzy Clustering,ANFCJPDA)。该算法根据确认区域中量测的分布和点...针对杂波环境下的多目标跟踪数据互联问题,该文提出基于全邻模糊聚类的联合概率数据互联算法(Joint Probabilistic Data Association algorithm based on All-Neighbor Fuzzy Clustering,ANFCJPDA)。该算法根据确认区域中量测的分布和点迹-航迹关联规则构造统计距离,以各目标的预测位置为聚类中心,利用模糊聚类方法,计算相关波门内候选量测与不同目标互联的概率,通过概率加权融合对各目标状态与协方差进行更新。仿真分析表明,与经典的联合概率数据互联算法(Joint Probabilistic Data Association algorithm,JPDA)相比,ANFCJPDA较大程度地改善了算法的实时性,并且跟踪精度与JPDA相当。展开更多
基金This project was supported by the National Natural Science Foundation of China (60272024).
文摘A specialized Hungarian algorithm was developed here for the maximum likelihood data association problem with two implementation versions due to presence of false alarms and missed detections. The maximum likelihood data association problem is formulated as a bipartite weighted matching problem. Its duality and the optimality conditions are given. The Hungarian algorithm with its computational steps, data structure and computational complexity is presented. The two implementation versions, Hungarian forest （HF） algorithm and Hungarian tree （HT） algorithm, and their combination with the naYve auction initialization are discussed. The computational results show that HT algorithm is slightly faster than HF algorithm and they are both superior to the classic Munkres algorithm.
基金the National Natural Science Foundation of China(61771367)the Science and Technology on Communication Networks Laboratory(HHS19641X003).
文摘Since the joint probabilistic data association(JPDA)algorithm results in calculation explosion with the increasing number of targets,a multi-target tracking algorithm based on Gaussian mixture model(GMM)clustering is proposed.The algorithm is used to cluster the measurements,and the association matrix between measurements and tracks is constructed by the posterior probability.Compared with the traditional data association algorithm,this algorithm has better tracking performance and less computational complexity.Simulation results demonstrate the effectiveness of the proposed algorithm.
文摘针对杂波环境下的多目标跟踪数据互联问题,该文提出基于全邻模糊聚类的联合概率数据互联算法(Joint Probabilistic Data Association algorithm based on All-Neighbor Fuzzy Clustering,ANFCJPDA)。该算法根据确认区域中量测的分布和点迹-航迹关联规则构造统计距离,以各目标的预测位置为聚类中心,利用模糊聚类方法,计算相关波门内候选量测与不同目标互联的概率,通过概率加权融合对各目标状态与协方差进行更新。仿真分析表明,与经典的联合概率数据互联算法(Joint Probabilistic Data Association algorithm,JPDA)相比,ANFCJPDA较大程度地改善了算法的实时性,并且跟踪精度与JPDA相当。
