Ocean Systems Lab  
Ocean Systems Lab Heriot-Watt University Ocean Systems Laboratory

Seminar Information

Title: Extended Object Filtering using Spatial Independent Cluster Processes
Date: Thu 22 Jul 2010
Time: 11:00
Location: EM 2.33
Speaker: Anthony Swain
Description: Recent research into multi-object filtering for non-standard targets introduced alternative approaches for target group representation. In these approaches a measurement model (likelihood) was suggested that led to a representation of the measurements as a spatial point process, namely a Poisson point process. In this talk I present a novel approach to extended target tracking, by assuming a 'standard' measurement model (at most one measurement generated from a target point) and representing the target group (or 'extended targets') as a spatial cluster process. With this assumption approximate measurement-update equations for the first order moment density of the extended object Bayes filter can be derived, which I present in a number of scenarios. I finish the talk with video demos of this first moment filter being implemented on simulated data for several examples.

<< Back to list of seminars

  © 2008-2017 HW Ocean Systems Laboratory