An adaptive PHD filter for tracking with unknown sensor characteristics

摘要

In multi-target tracking, the discrepancy between the nominal and the true values of the model parameters might result in poor performance. In this paper, an adaptive Probability Hypothesis Density (PHD) filter is proposed which accounts for sensor parameter uncertainty. Variational Bayes technique is used for approximate inference which provides analytic expressions for the PHD recursions analogous to the Gaussian mixture implementation of the PHD filter. The proposed method is evaluated in a multi-target tracking scenario. The improvement in the performance is shown in simulations.