The goal of concurrent mapping and localization (CML) is for a mobile robot to build a map of an unknown environment while simultaneously using that map to navigate. CML can be considered as a problem of multiple target tracking (MTT) in the presence of navigation uncertainty. Although data association errors can have a catastrophic e ect on CML performance, previous approaches to CML, such as ...

This paper addresses the problem of multi-frame, multi-target video tracking. Unlike recent approaches that use only unary and pairwise costs, we propose a solution based on three-frame tracklets to leverage constant-velocity motion constraints while keeping computation time low. Tracklets are solved for within a sliding window of frame triplets, each having a two frame overlap with neighboring...

Using Comaniciu et al.’s approach as a basis, [9], this paper presents a real-time tracking technique in which a multiple target model is used. The use of a multiple model shall enable us to provide the tracking scheme with a greater robustness for tracking tasks on sequences in which there are changes in the lighting of the tracked object. In order to do so, a selection function is defined for...

In this thesis, we study the new imaging theory developed that incorporates target motion during data collection for the imaging process. The subject of radar imaging from scattered waves is explored and incorporated into the new imaging approach. A simulation model using MATLAB is developed to simulate the imaging algorithm and also to validate the performance. It is shown that the new imaging...

In this paper, we investigate the fundamental assumptions of popular target tracking algorithms. These assumptions rarely hold in the real world and can have significant effects on current tracking systems. These analyses provide motivation for new algorithms that overcome the difficulties in current algorithms, providing better target tracking systems.

yy Abstract| A new algorithm is presented for estimating the directions of arrival of signals from an unknown number of moving signal sources. The parameter space is a countable union of cartesian products of the torus, each product space corresponding to a diierent number of signals reaching the sensor array. A Bayesian posterior probability measure is deened on this parameter space by combini...

We propose a novel efficient algorithm for robust tracking of a fixed number of targets in real-time with low failure rate. The method is an instance of Sequential Importance Resampling filters approximating the posterior of complete target configurations as a mixture of Gaussians. Using predicted target positions by Kalman filters, data associations are sampled for each measurement sweep accor...

The Multiple Targets Tracking (MTT) problem is addressed in signal and image processing. When the state and measurement models are linear, we can find several algorithms that yield good performances in MTT problem, among them, the Multiple Hypotheses Tracker (MHT) and the Joint Probabilistic Data Association Filter (JPDAF). However, if the state and measurement models are nonlinear, these algor...

This paper presents a particle filter-based approach for multiple target tracking in video streams in single static cameras settings. We aim in particular to manage mid-dense crowds situations, where, although tracking is possible, it is made complicated by the presence of frequent occlusions among targets and with scene clutter. Moreover, the appearance of targets is sometimes very similar, wh...