In this paper, we consider the problem of tracking multiple maneuvering targets using switching multiple target motion models. With this paper, we aim to contribute in solving the problem of model-based body motion estimation by using data coming from visual sensors. The Interacting Multiple Model (IMM) algorithm is specially designed to track accurately targets whose state and/or measurement (assumed to be linear) models changes during motion transition. However, when these models are nonlinear, the IMM algorithm must be modified in order to guarantee an accurate track. In this paper we propose to avoid the Extended Kalman filter because of its limitations and substitute it with the Unscented Kalman filter which seems to be more efficient especially according to the simulation results obtained with the nonlinear IMM algorithm (IMMUKF). To resolve the problem of data association, the JPDA approach is combined with the IMM-UKF algorithm, the derived algorithm is noted JPDA-IMM-UKF.
Multiple Sensors and JPDA-IMM-UKF Algorithm for Tracking Multiple Maneuvering Targets
2007-10-20
oai:zenodo.org:1062418
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Tracking of Multiple Maneuvering Targets using Multiscan JPDA and IMM Filtering
Online Contents | 2007
|Combining IMM and JPDA for tracking multiple maneuvering targets in clutter
British Library Conference Proceedings | 2002
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