MCMC particle filter-based vehicle tracking method using multiple hypotheses and appearance model

摘要

In this study, we propose a multiple vehicle tracking method using multiple hypotheses and the appearance model. The multiple hypotheses are associated with multiple tracks using track-to-multiple hypotheses association method. A target state is estimated using the maximum a posteriori probability estimation method. The posterior probability is proportional to the product of a priori probability and the likelihood that is calculated using similarities of multiple hypotheses and the appearance model. The posterior probability density function is estimated using the Markov chain Monte Carlo particle filter. An optimal posterior target state is determined using a sample with the maximum a posteriori probability. Our experimental results show that the proposed method can improve multiple objects tracking precision as well as multiple object tracking accuracy.