The Labeled Multi-Bernoulli Filter
The Labeled Multi-Bernoulli Filter
复制标题
DOI：
10.1109/tsp.2014.2323064
复制
发表时间：
2014-06-01
影响因子：
5.4
通讯作者：
Dietmayer, Klaus
中科院分区：
文献类型：
--
作者：
Reuter, Stephan;Vo, Ba-Tuong;Dietmayer, Klaus
提出了一种输出目标航迹的多贝努利滤波器的推广形式--标号多贝努利滤波器。此外，通过利用标记随机有限集的共轭先验形式，与多Bernoulli过滤器相比，标记多Bernoulli过滤器不会表现出基数偏差，这是因为与多Bernoulli过滤器相比，更新近似更准确。所提出的滤波器可以解释为Delta-广义标记多Bernoulli滤波器的有效近似。它继承了多贝努利滤波在粒子实现和状态估计方面的优势。它还继承了增量广义标记多贝努利滤波器的优点，因为它输出(标记)目标轨迹并获得更好的性能。
This paper proposes a generalization of the multi-Bernoulli filter called the labeled multi-Bernoulli filter that outputs target tracks. Moreover, the labeled multi-Bernoulli filter does not exhibit a cardinality bias due to a more accurate update approximation compared to the multi-Bernoulli filter by exploiting the conjugate prior form for labeled Random Finite Sets. The proposed filter can be interpreted as an efficient approximation of the delta-Generalized Labeled Multi-Bernoulli filter. It inherits the advantages of the multi-Bernoulli filter in regards to particle implementation and state estimation. It also inherits advantages of the delta-Generalized Labeled Multi-Bernoulli filter in that it outputs (labeled) target tracks and achieves better performance.