Bayesian filtering for tracking pose and location of rigid targets
Anuj Srivastava · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2000
Tracking of target pose is important for ATR in situations where there is a relative motion between the targets and the sensor(s). Taking a Bayesian approach, we formulate the problem of jointly tracking the target positions and orientations as a problem in nonlinear filtering. Combining pertinent ideas form importance sampling and sequential methods, we apply an iterative Monte Carlo approach to solve for MMSE solutions. This tracking algorithm is demonstrated for tracking individual targets in a simulated environment.