Automated Model Selection based Tracking of Multiple Targets using Particle Filtering

Particle filtering is being investigated extensively due to its important feature of target tracking based on nonlinear and non-Gaussian model. It tracks a trajectory with a known model at a given time. It means that particle filter tracks an arbitrary trajectory only ifthe time instant when trajectory switches from one model to another model is known apriori. Because of this reason particle filter is not able to track any arbitrary trajectory where transition instant from one model to another'model is not known. Another problem with multiple trajectories tracking using particle filter is the data association, i.e. observation to track fusion. In this paper we propose a novel method, which overcomes both the above problems. In the proposed me:hod an interacting multiple model based approach is used along with particle filtering, which automates the model selection process for tracking an arbitrary trajectory. The uncertainty about the origin of an observation is overcome by using a centroid of measurements to evaluate weights for particles as well as to calculate likelihood of a model.