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检索条件"任意字段=IET Seminar on Target Tracking and Data Fusion: Algorithms and Applications"

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Investigation into the utility of using CFAR cluster size information in target track association

Investigation into the utility of using CFAR cluster size in...

引用

iet seminar on target tracking and data fusion: algorithms and applications

作者： Hughes, E.J. Izzawati, I. Department of Aerospace Power and Sensor Cranfield University DCMT Shrivenham SN6 8LA United Kingdom

ISBN: (纸本)9780863419102

During CFAR processing of low-resolution-radar data (e.g. from yacht navigation systems), the target is represented by a cluster of range-azimuth cells. The centroid is usually passed to the tracking system, however information on the size of the cluster, and therefore extent of location error is available from the CFAR. The main hypothesis of this paper is "would the use of the cluster bounding-box 'corners' allow better plot-totrack associations when compared to using the region centroid alone?" © The Institution of Engineering and Technology.

关键词： Navigation systems

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A technique to segment by tracking extended targets manoeuvring through complex scenes

A technique to segment by tracking extended targets manoeuvr...

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iet seminar on target tracking and data fusion: algorithms and applications

作者： Watson, G. Gilholm, K. Watson, S. Wallace, J. QinetiQ Ively Road Farnborough Hampshire GU14 0LX United Kingdom

ISBN: (纸本)9780863419102

We present an innovative optical flow based algorithm that uses a memory of both target appearance and motion in order to simultaneously segment and track extended targets through complex scenes. A particularly attractive feature of this approach is that is assumes little prior knowledge of the scene content (background, clutter etc) and can cope with a variety of target types and numbers. The algorithm will be demonstrated on synthetic and real-world, visual-band imagery. © QinetiQ.

关键词： Optical flows

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Multi-sensor debris tracking

Multi-sensor debris tracking

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iet seminar on target tracking and data fusion: algorithms and applications

作者： Welford, J. QinetiQ United Kingdom

ISBN: (纸本)9780863419102

We discuss the problem of tracking numerous debris objects originating from a point source, such as fragments produced by a collision or explosion. Multiple cameras are used to provide measurements of the objects, which are then fused to estimate positions and velocities in 3D space. Estimates may then be used to predict landing locations and spread, or to infer information about the event. This paper develops a solution to such a problem, based around several high speed cameras viewing an event from a variety of angles and distances. The quantity of debris considered is both unknown and likely to be high enough that the track initiation and data association problems are especially challenging. © QinetiQ.

关键词： High speed cameras

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Cluster tracking under kinematical constraints using random matrices

Cluster tracking under kinematical constraints using random ...

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iet seminar on target tracking and data fusion: algorithms and applications

作者： Koch, Wolfgang Feldmann, Michael D-53343 Wachtberg Germany

ISBN: (纸本)9780863419102

Collectively moving object clusters are of particular interest in certain applications and have to be tracked as separate aggregated entities consisting of an unknown number of individuals. tracking of convoys or large vehicles in wide area ground surveillance are practically important examples (GMTI: Ground Moving target Indicator). In standard tracking algorithms, the objects of interest are usually considered as point source objects;i. e. compared to the sensor resolution their spatial extension is eglected. Due to the increasing resolution capabilities of modern sensors, however, different scattering centers of an extended object can cause distinct detections. In this sense also collectively moving object groups can be considered as extended objects. Due to the resulting data association and resolution conflicts, any attempt of tracking individual objects within the group is no longer reasonable. In this paper ellipsoidal object extensions are modeled by random matrices, which are treated as additional state variables to be estimated. An important aspect is theincorporation of context information into the Bayesian data processing formalism. We here consider kinematical constraints such as road maps and sensor specific characteristics such as Doppler-blindness. © FGAN-FKIE.

关键词： data handling

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Multi-platform multi-target tracking fusion via covariance intersection: Using fuzzy optimised modified Kalman filters with measurement noise covariance estimation

Multi-platform multi-target tracking fusion via covariance i...

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iet seminar on target tracking and data fusion: algorithms and applications

作者： Wren, T.J. Mahmood, A. General Dynamics United Kingdom Limited United Kingdom

ISBN: (纸本)9780863419102

Presented in this paper is a detailed novel approach to tracking multiple moving targets from multiple moving platforms and fusing the individual estimates within platform centric nodes via covariance intersection. The approach presents a method of deconstructing the target model into a nonlinear element and a Kalman Filter, modelling the target position and velocity vectors of the targets. The method avoids the increased complexity of using Extended Kalman Filters. The model state noise covariance is restructured by considering the source of the noise within the simplified imposed model and the measurement noise covariance is estimated from a single coefficient optimized moving average filter. The filter coefficient is optimally determined by the minimization of the variance of the Frobenius norm of the current estimated measurement covariance matrix, via a fuzzy logic feedback structure. © The Institution of Engineering and Technology.

关键词： Covariance matrix

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A novel algorithm for tracking targets using manoeuvre models

A novel algorithm for tracking targets using manoeuvre model...

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iet seminar on target tracking and data fusion: algorithms and applications

作者： Gilholm, K. Everett, N.O. QinetiQ Ively Road Farnborough Hampshire GU14 0LX United Kingdom

ISBN: (纸本)9780863419102

We present a novel algorithm for robust tracking of targets in challenging scenarios by modelling their high level behaviour. The particle-filter [6] based algorithm combines the benefits of variable-rate filtering [5] with a variabledimension, manoeuvre-based representation of the target trajectory. Variable-rate filtering allows the algorithm to model manoeuvre changes at arbitrary (non-measurement) times, while manoeuvre-based modelling adds to track robustness by providing a parsimonious representation of the target trajectory. The efficiency of the particle filter has been greatly enhanced using reversible-jump Markov Chain Monte Carlo [7] moves that are applied in a Resample-Move fashion [4]. We demonstrate the performance of the algorithm on some example representative scenarios. © QinetiQ.

关键词： target tracking

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Intelligent fuel-flow monitoring based on particle-tracking velocimetry

Intelligent fuel-flow monitoring based on particle-tracking ...

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iet seminar on target tracking and data fusion: algorithms and applications

作者： Ingram, S. Hossain, M.A. Dahl, K.P. Goodrich Engine Control Systems York Road Hall Green Birmingham B28 8LN United Kingdom School of Informatics Bradford University Bradford B07 1D7 United Kingdom

ISBN: (纸本)9780863419102

Artificial NeuralNetworks have been widely applied in various aspects of Particle-tracking Velocimetry. This paper presents an overview of the different applications and gives an insight into how this technology can be applied to fuel-flow monitoring. The paper presents a method of flow-field estimation based on Particle-tracking Velocimetry, without the need to solve the correspondence problem. We also present a method of defeating the obscuration problem found in many optical velocimetry schemes. © The Institution of Engineering and Technology.

关键词： Neural networks

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tracking multiple targets from a mobile robot platform using a laser range scanner

Tracking multiple targets from a mobile robot platform using...

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iet seminar on target tracking and data fusion: algorithms and applications

作者： Kondaxakis, Polychronis Kasderidis, Stathis Trahanias, Panos Greece

ISBN: (纸本)9780863419102

A major issue in the field of mobile robotics today is the detection and tracking of moving objects (DATMO) from a moving observer. In dynamic and highly populated environments, this problem presents a complex and computationally demanding task. It can be divided in subproblems such as robot's relative motion compensation, feature extraction, measurement clustering, data association and targets' state vector estimation. In this paper we present an innovative approach that addresses all these issues exploiting various probabilistic and deterministic techniques. The algorithm utilizes real laser-scanner data to dynamically extract moving objects from their background environment, using a time-fading grid map method, and tracks the identified targets employing a Joint Probabilistic data Association with Interacting Multiple Model (JPDA-IMM) algorithm. The resulting technique presents a computationally efficient approach to already existing target-tracking research for real time application scenarios. © The Institution of Engineering and Technology.

关键词： Mobile robots

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tracking and identification of agile targets from armoured fighting vehicles

Tracking and identification of agile targets from armoured f...

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iet seminar on target tracking and data fusion: algorithms and applications

作者： Emmett, Peter Archron Ltd 24 Bredon Road Oldbury West Midlands B69 1EP United Kingdom

ISBN: (纸本)9780863419102

To deal with asymmetric and adaptive threats, situational awareness and tracking systems require an inbuilt adaptive capability that is quantitatively geared to the dynamics of the human operational context. The physical form of surveillance systems is examined and fixed sensor strategies for situational awareness systems are shown to have significant drawbacks. Steerable sensors lead to a more effective capability that achieves faster identification after first target detection and is able to support smart, adaptive scanning and tracking modes. The design of situational awareness systems is considered from the standpoint of how much information should be presented to the military user at any one time. An analysis of the human operational context is presented, leading to situational adaptation based on novel sensor link budgets, end-to-end from sensor to user. © The Institution of Engineering and Technology.

关键词： Budget control

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tracking with inter-visibility variables

Tracking with inter-visibility variables

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iet seminar on target tracking and data fusion: algorithms and applications

作者： Horridge, P. Maskell, S. QinetiQ St Andrews Road Malvern Worcestershire WR14 1RN United Kingdom

ISBN: (纸本)9780863419102

This paper is concerned with the problem of tracking targets where each sensor in the network's view of the target is prone to obscuration due to other objects in the environment. An off-the-shelf multisensor tracker that attempts to localize (i.e. triangulate) targets moving through such a sensor network (for example, a CCTV network) assumes a fixed probability of detection for each sensor. This ssumption is not valid when obscuration be-comes pronounced and results in a degrada- tion of performance. The tracker typically underestimates the probability of a track being present which causes premature tracktermination and thereby track fragmentation. One approach to countering this ef- fect is to assume that a map of the en- vironment is available and can be used to determine the probability of detection for any given hypothetical target position and iven sensor position. This approach necessitates access to such a map, which may ot be readily available. To address this is- sue, this paper build on the recent develop- ment of algorithms for estimating the prob- ability of targets' existence (for track man- agement) to propose a model that considers random variables associated with the time- varying inter-visibility of targets from sen- sors. We compare this proposed approach, © 2008 QinetiQ.

关键词： Visibility

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