Hybrid probabilistic information matrix fusion

Kaipei Yang; Yaakov Bar-Shalom; Shawn Hunt

doi:10.1117/12.2585951

21 May 2021 Hybrid probabilistic information matrix fusion

Kaipei Yang, Yaakov Bar-Shalom, Shawn Hunt

Proceedings Volume 11756, Signal Processing, Sensor/Information Fusion, and Target Recognition XXX; 1175603 (2021) https://doi.org/10.1117/12.2585951
Event: SPIE Defense + Commercial Sensing, 2021, Online Only

Abstract

In autonomous driving systems, distributed sensor fusion is widely used where each sensor has its tracking system and only the local tracks (LT) are transmitted to the fusion center. We consider the fusion of LTs taking into account all the Fusion Center (FC) track-to-LT association hypotheses via probabilities in the proposed Hybrid Probabilistic Information Matrix Fusion (HPIMF) algorithm. In HPIMF, the track association and fusion are carried out with probabilistic weightings rather than using a single track association only. Different from track-to- track fusion (T2TF), which is one of the most commonly used approaches for distributed tracking systems, the associations considered in HPIMF are between the predicted FC state and the LTs from local sensors. At each time for an association event, up to one of the tracks within the track list of a local sensor can be associated with the FC state. In real world scenarios there can be large uncertainties and missed tracks due to sensor imperfections and sensor-target geometry. Consequently, the association might be unreliable and fusion based on only a single association hypothesis could fail. It is shown in the simulations of a realistic autonomous driving system that HPIMF can successfully track a target of interest and is superior to T2TF which relies on hard association decisions.

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Kaipei Yang, Yaakov Bar-Shalom, and Shawn Hunt "Hybrid probabilistic information matrix fusion", Proc. SPIE 11756, Signal Processing, Sensor/Information Fusion, and Target Recognition XXX, 1175603 (21 May 2021); https://doi.org/10.1117/12.2585951

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KEYWORDS

Information fusion

Sensors

Distributed computing

Detection and tracking algorithms

Sensor fusion

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