Group Object Structure and State Estimation with Evolving Networks and Monte Carlo Methods
This is the code for the algorithms developed in:
A. Gning, L. Mihaylova, S. Maskell, S. K. Pang, S. Godsill, Group Object Structure and State Estimation with Evolving Networks and Monte Carlo Methods, IEEE Transactions on Signal Processing, Vol. 59, No. 4, April, 1383 - 1396, 2011.
A technique combining sequential Monte Carlo with evolving network is proposed for group object motion tracking. Each group is modelled as a graph which structure changes in time. Each node of
the graph corresponds to a target within the group. The uncertainty of the group structure is estimated jointly with the group target states. New group structure evolving models are proposed for automatic graph structure initialization, incorporation of new nodes, nonexisting nodes removal, and the edge update. Both the state and the graph structure are updated based on range and bearing measurements.
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