title: Gating techniques for Rao-Blackwellized Monte Carlo data association filter.
abstract: This paper studies the Rao-Blackwellized Monte Carlo data association (RBMCDA) filter for multiple target tracking. The elliptical gating strategies are redesigned and incorporated into the framework of the RBMCDA filter. The obvious benefit is the reduction of the time cost because the data association procedure can be carried out with less validated measurements. In addition, the overlapped parts of the neighboring validation regions are divided into several separated subregions according to the possible origins of the validated measurements. In these subregions, the measurement uncertainties can be taken into account more reasonably than those of the simple elliptical gate. This would help to achieve higher tracking ability of the RBMCDA algorithm by a better association prior approximation. Simulation results are provided to show the effectiveness of the proposed gating techniques.
authors.affiliation: The Department of Systems and Control, Beihang University (BUAA), Beijing 100191, China.
authors.forename: Yazhao
authors.identifier: 0000-0002-5953-9276
authors.initials: Y
authors.lastname: Wang
authors.affiliation: School of Mechanical Electronic and Information Engineering, China University of Mining and Technology, Beijing 100083, China.
authors.forename: Peini
authors.initials: P
authors.lastname: Zhang
mesh_terms: D000465:Algorithms; D006801:Humans; D009010:Monte Carlo Method