21 September 2007 Map integration in tracking
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Abstract
A multiple model tracking algorithm has considerable advantage when the target is moving on a road grid. A map-enhanced algorithm magnifies this by excluding large regions of the 2D motion-space from search. However, integrating the grid of streets and junctions into a recursive algorithm is challenging. This paper presents a map-enhanced, tracker that uses local models tuned to motions on the four cardinal directions. Map compliance is achieved by re-initializing the local kinematic state when a model change occurs and by moving the local estimate to the map after a measurement update. Unfortunately, the transition dynamics of the model state depend upon the kinematic state. A proposed junction influence function is based upon a rapidly decaying measure of the distance from the target to the nearest compatible junction.
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David D. Sworder, David D. Sworder, John E. Boyd, John E. Boyd, R. G. Hutchins, R. G. Hutchins, } "Map integration in tracking", Proc. SPIE 6699, Signal and Data Processing of Small Targets 2007, 66990F (21 September 2007); doi: 10.1117/12.728864; https://doi.org/10.1117/12.728864
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