The intelligence of a mobile robot is highly dependent on its vision. The main objective of an intelligent mobile robot is in its ability to the online image processing, object detection, and especially visual tracking which is a complex task in stochastic environments. Tracking algorithms suffer from sequence challenges such as illumination variation, occlusion, and background clutter, so an a...

This thesis addresses several challenges in Bayesian target tracking, particularly for array signal processing applications, and for multiple targets. The optimal method for multiple target tracking is the Bayes’ joint filter that operates by hypothesising all the targets collectively using a joint state. As a consequence, the computational complexity of the filter increases rapidly with the nu...

In this lecture we discuss a number of concerns and items of interest that related to the tracking of targets in clutter. We begin with a discussion of performance evaluation methods. The familiar CRLB is shown to be adjusted in a straightforward way when deterministic trajectories are estimated in the presence of measurement-origin uncertainty (false alarms and missed detections); indeed, the ...