A Gaussian Mixture Filter for Near-Far Object Tracking
G.W. Pulford, David J. Salmond · 2005
The near-far object tracking (NFOT) problem concerns the tracking of an extended object consisting of a set of resolvable sources that, due to finite sensor resolution, appears as a single point when at long range from the sensor. A Gaussian mixture filter for this problem is presented for the case of a linear object comprising a known number of sources. The filter structure is a combination of the probabilistic data association (PDA) filter and the multiple simultaneous measurement filter. The filter takes into account the uncertainty concerning the object's structure and orientation, as well as the presence of false alarms. Simulations for an open-loop pursuit scenario are presented that compare the performance of the filter with another Gaussian mixture filter that does not consider sensor resolution