Conference
Notes on the Product Multi-Sensor Generalized Labeled Multi-Bernoulli Filter and its Implementation
| العنوان: | Notes on the Product Multi-Sensor Generalized Labeled Multi-Bernoulli Filter and its Implementation |
|---|---|
| المؤلفون: | Herrmann, Martin, Luchterhand, Tim, Herrmann, Charlotte, Wodtko, Thomas, Strohbeck, Jan, Buchholz, Michael |
| بيانات النشر: | Universität Ulm |
| سنة النشر: | 2022 |
| المجموعة: | OPARU (OPen Access Repository of Ulm University) |
| مصطلحات موضوعية: | Random Finite Sets, Multi-Sensor Multi-Object Tracking, Bayes Filtering, Snoezelen, Bayesian statistical decision theory, Bayes-Verfahren |
| الوصف: | We previously presented the product multi-sensor generalized labeled multi-Bernoulli filter, which constitutes a multi-object filter for centralized and distributed multi-sensor systems with centralized estimator. It implements the Bayes parallel combination rule for generalized labeled multi-Bernoulli densities, simplifying the NP-hard multidimensional k-best assignment problem of the multi-sensor multi-object update to a polynomial-time k-shortest path problem. This way, the filter allows for efficient, parallelizable, and distributed calculation of the multi-sensor multi-object update, while showing excellent performance. However, the derivation of the filter formulas relies on a well-established approximation of the fundamental multi-sensor Gaussian identity, which was inadvertently not labeled as such in our original article. Thus, on the one hand, we clarify this mistake, discuss its consequences, and present a mathematically clean derivation of the filter yet to establish the claim of Bayes-optimality. On the other hand, we discuss implementation details and present extensive evaluations, that complete the previous publication of the filter. |
| نوع الوثيقة: | conference object |
| وصف الملف: | application/pdf |
| اللغة: | English |
| Relation: | https://doi.org/10.23919/FUSION49751.2022.9841275 |
| DOI: | 10.18725/OPARU-45966 |
| الاتاحة: | https://doi.org/10.18725/OPARU-45966 http://nbn-resolving.de/urn:nbn:de:bsz:289-oparu-46042-7 |
| Rights: | https://oparu.uni-ulm.de/xmlui/licenseA_v1 |
| رقم الانضمام: | edsbas.6E5E08F8 |
| قاعدة البيانات: | BASE |
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