Multitarget Tracking with Lidar and Stereo Vision Based on Probabilistic Data Association FIR Filter
Tóm tắt
A key function of multitarget tracking (MTT) is the state estimation of unknown targets. In this paper, we propose a new state estimator, the probabilistic data association finite impulse response filter (PDAFIRF), which is designed to overcome the drawbacks of the existing state estimators used for MTT. Because the existing state estimation methods used for MTT employ all past measurements, they may exhibit poor performance because of the accumulated errors caused by modeling uncertainties and numerical errors. To overcome the weaknesses of the existing methods, the proposed PDAFIRF uses recent finite measurements, and therefore, can prevent accumulated errors. The proposed PDAFIRF requires recent finite measurements from lidar and stereo vision and processes data in a probabilistic manner. Owing to its FIR-type structure, the PDAFIRF overcomes the structural and conditional defects of the existing stochastic filters. An MTT algorithm employing the PDAFIRF and lidar and stereo vision data is developed for multi-object tracking and target information estimation with high accuracy. The fusion of lidar and stereo vision sensor data is provided for the PDAFIRF. For verifying the high accuracy of the PDAFIRF-based MTT, a simulation of tracking eight objects under fast-varying conditions is conducted. An experimental test is performed using lidar and stereo vision for tracking three pedestrians. It is demonstrated that the proposed PDAFIRF-based MTT considerably enhances the tracking performance compared to the existing Kalman filter-, unscented Kalman filter-, and particle filter-based algorithms.
Tài liệu tham khảo
Geiger A, Lenz P, Urtasun R (2012) Are we ready for autonomous driving? the KITTI vision benchmark suite, in IEEE Conference on Computer Vision and Pattern Recognition, pp. 3354–3361
Bagloee SA, Tavana M, Asadi M, Oliver T (2016) Autonomous vehicles: challenges, opportunities, and future implications for transportation policies. J Modern Transp 24(4):284–303
Minderhoud MM, Bovy PH (2001) Extended time-to-collision measures for road traffic safety assessment. Accid Anal Prevent 33(1):89–97
Blackman SS (1986) Multiple-target tracking with radar applications. MA, Artech House Inc, Dedham
You H, Jianjuan X, Xin G (2016) Radar data processing with applications. Wiley, Hoboken
Okuma K, Taleghani A, De Freitas N, Little JJ, Lowe DG (2004) “A boosted particle filter: Multitarget detection and tracking,” in European Conference on Computer Vision, pp. 28–39
Bar-Shalom Y, Daum F, Huang J (2009) The probabilistic data association filter. IEEE Control Syst 29(6):82–100
Attari M, Habibi S, Gadsden S (2017) Target tracking formulation of the SVSF with data association techniques. IEEE Trans Aerosp Electr Syst 53(1):12–25
Xu L, Jin S, Yin G (2013) Track fusion via track filter in dense sensor environments. Measurement 46(10):3871–3875
Wang C-C, Thorpe C, Thrun S, Hebert M, Durrant-Whyte H (2007) Simultaneous localization, mapping and moving object tracking. Int J Robot Res 26(9):889–916
Zheng L, Wang X (2017) “Improved NN-JPDAF for joint multiple target tracking and feature extraction,” arXiv preprint arXiv:1703.08254,
Colegrove S, Davey S (2003) PDAF with multiple clutter regions and target models. IEEE Trans Aerosp Electr Syst 39(1):110–124
Wilthil EF, Flåten AL, Brekke EF (2017) A target tracking system for ASV collision avoidance based on the PDAF in sensing and control for autonomous vehicles. Springer, Berlin, pp 269–288
Bar-Shalom Y, Willett PK, Tian X (2011) Tracking and data fusion, vol 11. Storrs, CT, USA, YBS publishing
Singer R, Sea R, Housewright K (1974) Derivation and evaluation of improved tracking filter for use in dense multitarget environments. IEEE Trans Inform Theory 20(4):423–432
Bar-Shalom Y, Tse E (1975) Tracking in a cluttered environment with probabilistic data association. Automatica 11(5):451–460
Wang Y, Karimi HR, Lam H-K, Yan H (2019) Fuzzy output tracking control and filtering for nonlinear discrete-time descriptor systems under unreliable communication links. IEEE Trans Cybern 50(6):2369–2379
Wang Y, Ahn CK, Yan H, Xie S (2020) Fuzzy control and filtering for nonlinear singularly perturbed Markov jump systems. IEEE Trans Cybern 51(1):297–308
Li D-J, Li J, Li S (2016) Adaptive control of nonlinear systems with full state constraints using integral barrier lyapunov functionals. Neurocomputing 186:90–96
Liu L, Liu Y-J, Chen A, Tong S, Chen CP (2020) Integral barrier lyapunov function-based adaptive control for switched nonlinear systems. Sci China Inform Sci 63(3):1–14
Liu L, Li X, Liu Y-J, Tong S (2021) Neural network based adaptive event trigger control for a class of electromagnetic suspension systems. Control Eng Pract 106:104675
Bar-Shalom Y, Fortmann TE, Cable PG (1990) Tracking and data association. J Acoust Soc Am 87(2):918–919
Blom HA, Bloem EA (2006) “Joint particle filtering of multiple maneuvering targets from unassociated measurements,” tech. rep. National Aerospace Laboratory NLR
Geiger A, Lenz P, Urtasun R (2018) Augmented human state estimation using interacting multiple model particle filters with probabilistic data association. IEEE Robot Autom Lett 3(3):12–25
Pak JM, Ahn CK, Shmaliy YS, Lim MT (2015) Improving reliability of particle filter-based localization in wireless sensor networks via hybrid particle/FIR filtering. IEEE Trans Indus Inform 11(5):1089–1098
Ahn CK, Shmaliy YS (2018) New receding horizon FIR estimator for blind smart sensing of velocity via position measurements. IEEE Trans Circuits Syst II: Express Briefs 65(1):135–139
Ahn CK, Shi P, Basin MV (2016) Deadbeat dissipative FIR filtering. IEEE Trans Circuits Syst I: Regular Papers 63(8):1210–1221
Pak JM, Ahn CK, Shi P, Shmaliy YS, Lim MT (2016) Distributed hybrid particle/FIR filtering for mitigating NLOS effects in TOA-based localization using wireless sensor networks. IEEE Trans Indus Electr 64(6):5182–5191
Shmaliy YS, Zhao S, Ahn CK (2017) Unbiased finite impulse response filtering: An iterative alternative to Kalman filtering ignoring noise and initial conditions. IEEE Control Syst 37(5):70–89
Jeong HB, Ahn CK, You SH, Sohn KM (2018) Finite-memory estimation for vehicle roll and road bank angles. IEEE Trans Indus Electr 66(7):5423–5432
You SH, Ahn CK, Shmaliy YS, Zhao S (2018) Minimum weighted Frobenius norm discrete-time FIR filter with embedded unbiasedness. IEEE Trans Circuits Syst II: Express Briefs 65(9):1284–1288
Beymer D, Konolige K (1999) “Real-time tracking of multiple people using continuous detection,” in IEEE Frame Rate Workshop, pp. 1–8,
Dalal N, Triggs B (2005) “Histograms of oriented gradients for human detection,” in IEEE Conference on Computer Vision and Pattern Recognition, vol. 1, pp. 886–893, IEEE, 2005
Colegrove S, Davis A, Ayliffe J (1986) Track initiation and nearest neighbours incorporated into probabilistic data association. J Electr Electr Eng, Aust 6(3):191–198
Chakravorty R, Challa S (2006) Augmented state integrated probabilistic data association smoothing for automatic track initiation in clutter. J Adv Inform Fusion 1(1):63–74
Särkkä S, Vehtari A, Lampinen J (2007) Rao-blackwellized particle filter for multiple target tracking. Inform Fusion 8(1):2–15
Yang R, Ng BP, Ng GW (2009) Multiple model multiple hypothesis filter with sojourn-time-dependent semi-markov switching. IEEE Signal Process Lett 16(6):529–532
Navarro-Serment LE, Mertz C, Hebert M (2010) Pedestrian detection and tracking using three-dimensional ladar data. Int J Robot Res 29(12):1516–1528
You SH, Ahn CK, Zhao S, Shmaliy YS (2021) “Frobenius norm-based unbiased FIR fusion filtering for wireless sensor networks,” IEEE Transactions on Industrial Electronics, to be published, https://doi.org/10.1109/TIE.2021.3055172.
You SH, Ahn CK, Shmaliy YS, Zhao S (2019) Fusion Kalman and weighted UFIR state estimator with improved accuracy. IEEE Trans Ind Electr 67(12):10713–10722
Mahalanobis, P.C.: “On the generalised distance in statistics,” Proceedings of the National Institute of Sciences of India, vol. 2, no. 1, pp. 49–55, (1936)
Singh SK, Premalatha M, Nair G (1995) “Ellipsoidal gating for an airborne track while scan radar,” in IEEE International Radar Conference, pp. 334–339, IEEE
Smith RC, Cheeseman P (1986) On the representation and estimation of spatial uncertainty. Int J Robot Res 5(4):56–68
Ge B, Zhang H, Jiang L, Li Z, Butt MM (2019) Adaptive unscented kalman filter for target tracking with unknown time-varying noise covariance. Sensors 19(6):1371
Schuhmacher D, Vo B-T, Vo B-N (2008) A consistent metric for performance evaluation of multi-object filters. IEEE Trans Signal Process 56(8):3447–3457
Kang HH, Lee SW, You SH, Ahn CK (2018) Novel vehicle detection system based on stacked dog kernel and adaboost. PloS one 13(3):e0193733