A new approach to map-assisted Bayesian tracking filtering

López-Araquistain López, Jaime and Jarama Pellico, Ángel Joaquín and Besada Portas, Juan Alberto and Miguel Vela, Gonzalo de and Casar Corredera, José Ramón (2019). A new approach to map-assisted Bayesian tracking filtering. "Information Fusion", v. 45 ; pp. 79-95. ISSN 1566-2535. https://doi.org/10.1016/j.inffus.2018.01.002.


Title: A new approach to map-assisted Bayesian tracking filtering
  • López-Araquistain López, Jaime
  • Jarama Pellico, Ángel Joaquín
  • Besada Portas, Juan Alberto
  • Miguel Vela, Gonzalo de
  • Casar Corredera, José Ramón
Item Type: Article
Título de Revista/Publicación: Information Fusion
Date: January 2019
ISSN: 1566-2535
Volume: 45
Freetext Keywords: MHT; Ground target tracking;IMM; Non-linear tracking; Context based tracking
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Señales, Sistemas y Radiocomunicaciones
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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This paper presents a new non-linear filter designed to track targets following a road network, taking advantage of the road map information. The algorithm is based on a Bayesian Multiple Hypotheses modelling of movement process, postulating and evaluating different hypotheses on the segments being followed by the target after road junctions. Then, the along-road tracking is carried out, for each hypothesis, by a longitudinal IMM filter capable of tracking target movements along straight roads, circular segments, and generic curvilinear segments defined through Bézier curves. The algorithm also includes a lateral drift estimator, which tracks the lateral motion of the target with respect to road axis, to be able to estimate target piloting error and especially to track targets in wide roads. The paper completely describes the filter and associated measurement preprocessing procedures, and also includes a comparative evaluation of the proposed filter with other filtering methods in the literature.

Funding Projects

Universidad Politécnica de MadridRP1509550C02UnspecifiedUnspecifiedTecnologías Avanzadas para la Monitorización y Gestión Remota del Tráfico Aéreo de Vehículos Pilotados y no Pilotados
Government of SpainTEC2014-57022-C2-1-RUnspecifiedUnspecifiedUnspecified

More information

Item ID: 67070
DC Identifier: https://oa.upm.es/67070/
OAI Identifier: oai:oa.upm.es:67070
DOI: 10.1016/j.inffus.2018.01.002
Official URL: https://www.sciencedirect.com/science/article/pii/S1566253517300933
Deposited by: Memoria Investigacion
Deposited on: 19 May 2021 15:07
Last Modified: 19 May 2021 15:07
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