Multi-sensor tracking with partly overlapping FoV using detection field of probability modeling and the GLMB filter

Abstract

Abstract In this paper, we consider multi-sensor with partly overlapping field of view (FoV) in the labeled random finite set (L-RFS) framework. This is different from most existing multi-sensor tracking algorithms, where the sensors are assumed to have the same FoV. We describe the partly overlapping FoV by modeling probability field of detection for individual sensors in whole observation area and can be seen as the same range of FoV. We consider all these using generalized labeled multi-Bernoulli filter in labeled RFS framework. Besides, we also propose a measurement-driven target birth model. Finally, the effectiveness of the proposed algorithm is verified by experiments.

Keywords

• Target tracking
• Multi-sensor
• Partly overlapping FoV
• Labeled random finite sets
• The GLMB filter