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Seminar Information

Title: Monte Carlo Realisation of A Distributed Multi-Object Fusion Algorithm
Date: Thu 23 Sep 2010
Time: 11:00
Location: EM2.33
Speaker: Murat Uney
Description: We consider the problem of distributed target tracking in a multi-object, multi-sensor scenario in which the structure of the joint distribution of the estimate between different nodes is unknown. We present preliminary results of Generalised Covariance Intersection (GCI) fusion rule for multi-object posteriors through a Monte Carlo realisation. We discuss the subtleties in the case of multi-object distributions and derive a scheme for sampling from Exponential Mixture Densities which are at the heart of the GCI. We demonstrate the improvement in localisation of multiple targets in a simulation scenario.

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