This paper introduces a method to integrate target behavior into the multiple hypothesis tracker (MHT) likelihood ratio. In particular, a periodic track appraisal based on behavior is introduced. The track appraisal uses elementary topological data analysis coupled with basic machine-learning techniques, and it adjusts the traditional kinematic data association likelihood (i.e., track score) using an established formulation for feature-aided data association. The proposed method is tested and demonstrated on synthetic vehicular data representing an urban traffic scene generated by the Simulation of Urban Mobility package. The vehicles in the scene exhibit different driving behaviors. The proposed method distinguishes those behaviors and shows improved data association decisions relative to a conventional, kinematic MHT.
Topological and statistical behavior classifiers for tracking applications
IEEE Transactions on Aerospace and Electronic Systems ; 52 , 6 ; 2644-2661
2016-12-01
3033720 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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