ICUAS 2020 Paper Abstract


Paper ThC1.2

He, Shaoming (Cranfield University), Shin, Hyo-Sang (Cranfield University), Tsourdos, Antonios (Cranfield University)

Joint Probabilistic Data Association Filter Using Adaptive Gibbs Sampling

Scheduled for presentation during the Regular Session "Sensor Fusion" (ThC1), Thursday, September 3, 2020, 17:20−17:40, Macedonia Hall

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on September 25, 2020

Keywords Sensor Fusion, Autonomy


This paper proposes a novel adaptive Gibbs sampling algorithm to implement joint probabilistic data association filter for multiple targets tracking. Instead of uniformly visiting and sampling each single element in one joint association hypothesis, the proposed algorithm selects an optimal element visiting sequence that tends to keep the most probable single association hypothesis. Compared to the random Gibbs sampling, it has been demonstrated that the proposed adaptive Gibbs sampling provides faster convergence speed, thus improving the tracking accuracy when the number of samples is limited, and improved robustness against the variation of the number of burnin samples. Extensive empirical simulations are undertaken to validate the performance of the proposed approach.



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