PMBM Filter for Contour Extended Object Tracking
- DOI
- 10.2991/978-94-6463-803-5_67How to use a DOI?
- Keywords
- PMBM filter; Multi-target tracking; 2D LiDAR; Extended components; Contour modeling
- Abstract
The Poisson Multi-Bernoulli Mixture (PMBM) filter is used for multi-target tracking in complex scenes. However, since 2D LiDAR generates measurements only at the target’s edge, it provides partial contour information at each moment. As the target moves or its relative position to the radar changes, measurements at different times originate from different edges of the target. During tracking, the traditional PMBM filter updates using only the previous extended state, without considering the target’s contour structure. This causes position deviation and difficulties in distinguishing targets when they are close or intersecting.This paper presents a multi-component edge extension model that represents the target's edge contour as multiple extended components. This allows more accurate division and tracking during multi-target maneuvering and intersection.
- Copyright
- © 2025 The Author(s)
- Open Access
- Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.
Cite this article
TY - CONF AU - Kejie Zhang AU - Peng Li AU - Youpeng Sun AU - Wenhui Wang AU - Wenjie Zhang PY - 2025 DA - 2025/07/31 TI - PMBM Filter for Contour Extended Object Tracking BT - Proceedings of the 5th International Conference on Internet, Education and Information Technology (IEIT 2025) PB - Atlantis Press SP - 697 EP - 702 SN - 2667-128X UR - https://doi.org/10.2991/978-94-6463-803-5_67 DO - 10.2991/978-94-6463-803-5_67 ID - Zhang2025 ER -