Innovative unscented transform–based particle cardinalized probability hypothesis density filter for multi-target tracking

Li, Bo; Yi, Huawei; Li, Xiaohui

doi:10.1177/0020294019877494

Cited by 4 publications

(4 citation statements)

References 29 publications

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“…Secondly, we also need to resolve low computational efficiency. Using unscented transformation [52,53], a small number of sigma points can be used to efficiently represent p(x t ) and p(z ip t ) instead of the time-consuming integral in equation (7). The unscented transformation of the Gaussian distribution R ∼ N (µ, P) can be expressed as:…”

Section: Observational Model Constructionmentioning

confidence: 99%

A safe and efficient LIDAR-based navigation system for 4WS4WD mobile manipulators in manufacturing plants

Meng

Wang

Xie

et al. 2021

Meas. Sci. Technol.

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The safe and efficient autonomous navigation of mobile manipulators is still challenging in harsh manufacturing environments with dynamic obstacles and narrow spaces. This paper addresses that challenge by proposing an industrial-grade LIDAR-based navigation system for four-wheel-steering and four-wheel-driving mobile manipulators and focuses on enhancing the system’s safety and efficiency in manufacturing plants. On one hand, using an efficient soft-evidence unscented distance filter, a robust localization method is presented to eliminate dynamic interference. The variation results of scan matching are ingeniously applied to formulate a practical localization-failure-detection strategy, therefore improving localization safety under confusing working conditions. On the other hand, an efficient path-graph-based trajectory-planning method is proposed, which can instantly generate a trajectory in a safe and effective search space. Considering the regional connectivity and movement characteristics of the 4WS4WD mobile manipulator, a novel path graph is designed to construct the search space. Even in a large-scale scenario, a robot can obtain the desired trajectory within 5 ms. Ultimately, some core modules, such as a safety module and a fault-tolerant control module are integrated to form a comprehensive navigation system. The simulated and real experimental results prove the excellent performance of our navigation system, which has been successfully applied in many real-world scenarios.

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Section: Observational Model Constructionmentioning

confidence: 99%

A safe and efficient LIDAR-based navigation system for 4WS4WD mobile manipulators in manufacturing plants

Meng

Wang

Xie

et al. 2021

Meas. Sci. Technol.

View full text Add to dashboard Cite

show abstract

“…Consequently, the MTT problem was solved within the Bayesian filtering framework utilizing the RFS formulation. In addition, the classical PHD filter 8 and its several typical extensions, such as multi-Bernoulli filters 9,10 and cardinalized PHD, 11,12 were proposed to approximate the state posterior by propagating the first-order statistical moment or the intensity of the RFS. However, the recursion of various PHD filters is still intractable in general as it involves the calculation of multiple set integrals.…”

Section: Introductionmentioning

confidence: 99%

Adaptive probability hypothesis density filter for multi-target tracking with unknown measurement noise statistics

2021

Measurement and Control

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Under the Gaussian noise assumption, the probability hypothesis density (PHD) filter represents a promising tool for tracking a group of moving targets with a time-varying number. However, inaccurate prior statistics of the random noise will degrade the performance of the PHD filter in many practical applications. This paper presents an adaptive Gaussian mixture PHD (AGM-PHD) filter for the multi-target tracking (MTT) problem in the scenario where both the mean and covariance of measurement noise sequences are unknown. The conventional PHD filters are extended to jointly estimate both the multi-target state and the aforementioned measurement noise statistics. In particular, the Normal-inverse-Wishart and Gaussian distributions are first integrated to represent the joint posterior intensity by transforming the measurement model into a new formulation. Then, the updating rule for the hyperparameters of the model is derived in closed form based on variational Bayesian (VB) approximation and Bayesian conjugate prior heuristics. Finally, the dynamic system state and the noise statistics are updated sequentially in an iterative manner. Simulations results with both constant velocity and constant turn model demonstrate that the AGM-PHD filter achieves comparable performance as the ideal PHD filter with true measurement noise statistics.

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“…The dangerous rock bodies are mainly distributed in the limestone quarries and other open mining areas. The mining forms steep slopes, which collapse under the influence of adverse factors such as rainfall, weathering, and fracture development [1]. Landslide hazards in the area are mainly unstable slopes generated by the unreasonable accumulation of slag.…”

Section: Introductionmentioning

confidence: 99%

Research on Risk Assessment of Multitarget Wireless Sensing Detection Auxiliary Engineering in Mine Geological Environment

Dong

2021

Journal of Sensors

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In this paper, we evaluate the risk of auxiliary engineering of mine geological environment utilizing multiobjective wireless sensing detection. After vectorization of each evaluation factor, we evaluate the geological environment of a high-top mountain mine by fuzzy comprehensive evaluation method and get the evaluation results of our geological environment. Firstly, an in-depth analysis is carried out for the tracking gate that most association methods pay little attention to. In terms of optimization of traditional tracking gate, an attempt is made to propose a genetic algorithm fusion coding for tracking gate optimization, and then, the principal characteristics of traditional data association algorithm are focused on, and a particle swarm annealing association algorithm is proposed. Finally, the image information fusion of multisensors is studied, and the image information fusion level, fusion technology, and fusion process are discussed in detail, and the optimized discrete wavelet and color space alignment method is proposed, and good results are achieved through experiments. Among them, the area of poor geological environment evaluation is 0.32 km2, accounting for 6.6% of the whole study area, the area of average geological environment evaluation is 0.63 km2, accounting for 12.7% of the whole study area, and the area of good geological environment evaluation is 3.98 km2, accounting for 80.7% of the whole study area. The evaluation results can fully reflect the degree of mining influence on the Gaodingshan mining area and provide a theoretical basis for the study of mine environment restoration and management.

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Innovative unscented transform–based particle cardinalized probability hypothesis density filter for multi-target tracking

Cited by 4 publications

References 29 publications

A safe and efficient LIDAR-based navigation system for 4WS4WD mobile manipulators in manufacturing plants

A safe and efficient LIDAR-based navigation system for 4WS4WD mobile manipulators in manufacturing plants

Adaptive probability hypothesis density filter for multi-target tracking with unknown measurement noise statistics

Research on Risk Assessment of Multitarget Wireless Sensing Detection Auxiliary Engineering in Mine Geological Environment

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