A Hierarchical LMB/PHD Filter for Multiple Groups of Targets with Coordinated Motions
Léo Legrand, Audrey Giremus, Éric Grivel, Laurent Ratton, Bernard W. Joseph, Clément Magnant · 2018
In some multi-object tracking scenarios such as convoys or road constrained motions, it can be advantageous to track groups of targets sharing common motion characteristics, even if they are not necessarily close to each other. The objective is twofold: reducing the computational cost while increasing the accuracies of the individual trajectory estimates. In a previous communication, we introduced a generic model based on hierarchical random finite sets (RFSs) to represent these types of multigroup multi-target scenarios. A first RFS is used to represent the multi-group state: the number of groups, their common motion characteristics and their target compositions are assumed to be random variables. Then, for each group, a second layer of RFSs represents the multi-target state assuming that the number of targets inside a group and their trajectories are also random variables. The main contribution of this paper is to derive a filter dedicated to the state estimation of hierarchical RFSs from sequential sensor measurements. The proposed solution is based on the labeled multi-Bernoulli filter to estimate the group characteristics, which interacts with a bank of probability hypothesis density filters to address the multi-target layer.