21 September 2007 Tracking of divers in a noisy background using a bubble model
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Abstract
In this paper real data from divers is analyzed for detection and tracking purposes. There are two divers, one with an open breathing system, and the other with a closed breathing system. The data were recorded from an active 90kHz narrowband multibeam imaging sonar. A target such as the open breathing system diver yields several detections of air bubbles, and should be handled as an extended target. Modeling the extended target with morphological operators like erosion and dilation is discussed and a model of the bubbles in the data association is developed. For this data the MCA (Morphological Cell Averaging)-CFAR is implemented in cojunction with an augmented probabilistic data association filter (PDAF) that incorporates an additional bubble model.
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Anders Rødningsby, Yaakov Bar-Shalom, "Tracking of divers in a noisy background using a bubble model", Proc. SPIE 6699, Signal and Data Processing of Small Targets 2007, 669907 (21 September 2007); doi: 10.1117/12.731629; https://doi.org/10.1117/12.731629
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