OBJECT TRACKING BASED ON MULTIPLE MEASUREMENT HYPOTHESES

• Main Authors: AEBERHARD MICHAEL, KELLNER DOMINIK
• Format: Patent
• Language: Chinese; English
• Published: 29.12.2020
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

A method and system for integrating multiple measurement hypotheses in an efficient labeled multi-Bernoulli (LMB) filter, the LMB filter estimating a plurality of tracks for a plurality of objects, each track of the plurality of tracks having a unique label, a probability, and a state, wherein each track of the plurality of tracks is associated to an object of a plurality of objects to be tracked,each object having an object state, the method comprising: receiving one or more measurement hypotheses of the multiple measurement hypotheses for each object of the plurality of objects; updating each track of the plurality of tracks based on the respective track and the one or more measurement hypotheses of the multiple measurement hypotheses; determining, for each combination of track of the plurality of tracks and measurement hypothesis, a likelihood [eta]i(j, k); sampling, for each iteration of a plurality of iterations, an update hypothesis based on an association of each track of the plurality of tracks to one