Multiple Target Tracking Using SIR/MCMC Particle Filters by Cameras and Laser Range Finders

摘要

This paper presents a sensor network system consisting of distributed cameras and laser range finders for multiple objects tracking. Sensory information from cameras is processed by the Level set method in real time and integrated with range data obtained by laser range finders in a probabilistic manner using novel SIR/MCMC combined particle filters. Simultaneous tracking experiments for multiple moving targets are successfully carried out and it is verified that the SIR/MCMC combined particle filters has higher performance than the conventional particle filters in terms of the number of particles, the processing speed, and the tracking performance for multiple targets.