Kernel density estimation and marginalized-particle based probability hypothesis density filter for multi-target tracking

ZHANG Lu-ping(张路平), WANG Lu-ping(王鲁平), LI Biao(李飚), ZHAO Ming(赵明)

(College of Electronic Science and Engineering, National University of Defense Technology,
Changsha 410073, China)

Abstract:In order to improve the performance of the probability hypothesis density (PHD) algorithm based particle filter (PF) in terms of number estimation and states extraction of multiple targets, a new probability hypothesis density filter algorithm based on marginalized particle and kernel density estimation is proposed, which utilizes the idea of marginalized particle filter to enhance the estimating performance of the PHD. The state variables are decomposed into linear and non-linear parts. The particle filter is adopted to predict and estimate the nonlinear states of multi-target after dimensionality reduction, while the Kalman filter is applied to estimate the linear parts under linear Gaussian condition. Embedding the information of the linear states into the estimated nonlinear states helps to reduce the estimating variance and improve the accuracy of target number estimation. The meanshift kernel density estimation, being of the inherent nature of searching peak value via an adaptive gradient ascent iteration, is introduced to cluster particles and extract target states, which is independent of the target number and can converge to the local peak position of the PHD distribution while avoiding the errors due to the inaccuracy in modeling and parameters estimation. Experiments show that the proposed algorithm can obtain higher tracking accuracy when using fewer sampling particles and is of lower computational complexity compared with the PF-PHD.

Key words:particle filter with probability hypothesis density; marginalized particle filter; meanshift kernel density estimation; multi-target tracking