TY - GEN
T1 - On Self-Localization and Tracking with an Unknown Number of Targets
AU - Sharma, Pranay
AU - Saucan, Augustin Alexandru
AU - Bucci, Donald J.
AU - Varshney, Pramod K.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - We propose a scalable algorithm for cooperative self-localization and multi-target tracking. Mobile agents localize themselves, and track an unknown number of targets in the presence of data-association uncertainty. We accomplish this task by modeling the probabilistic relationship between agent and target measurements alongside their state estimates using a suitably designed factor graph, which is solved using loopy belief propagation. By coupling the self-localization and multi-target tracking approaches together, our approach is capable of leveraging the statistical correlation between agent and target state uncertainty in order to provide improved localization accuracy over time for both agents and targets. Simulation results show improvement in target and agent state estimation error, compared to the conventional approach of first localizing agents, and then using this information for target tracking.
AB - We propose a scalable algorithm for cooperative self-localization and multi-target tracking. Mobile agents localize themselves, and track an unknown number of targets in the presence of data-association uncertainty. We accomplish this task by modeling the probabilistic relationship between agent and target measurements alongside their state estimates using a suitably designed factor graph, which is solved using loopy belief propagation. By coupling the self-localization and multi-target tracking approaches together, our approach is capable of leveraging the statistical correlation between agent and target state uncertainty in order to provide improved localization accuracy over time for both agents and targets. Simulation results show improvement in target and agent state estimation error, compared to the conventional approach of first localizing agents, and then using this information for target tracking.
UR - http://www.scopus.com/inward/record.url?scp=85062960215&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85062960215&partnerID=8YFLogxK
U2 - 10.1109/ACSSC.2018.8645547
DO - 10.1109/ACSSC.2018.8645547
M3 - Conference contribution
AN - SCOPUS:85062960215
T3 - Conference Record - Asilomar Conference on Signals, Systems and Computers
SP - 1735
EP - 1739
BT - Conference Record of the 52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018
A2 - Matthews, Michael B.
PB - IEEE Computer Society
T2 - 52nd Asilomar Conference on Signals, Systems and Computers, ACSSC 2018
Y2 - 28 October 2018 through 31 October 2018
ER -