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PHD Filter Multi-Target Tracking Demonstrations

Here we demonstrate some examples of tracking with Probability Hypothesis Density (PHD) filters on both simulated and real data to illustrate the ability of these algorithms to identify (detect) targets, initiate tracks and terminate them when targets leave the scene. The number of targets varies over time and the algorithms also estimate the number of targets. This is in the presence of clutter (false alarms), where there are many more false measurements than those generated by true targets. The tracking videos are grouped into different sections according to the implementation or application.

Particle PHD Filter

Particle PHD filter tracking |   mm-wave |   Sonar


Particle PHD filter Sonar

Particle PHD filter Tracking in Forward Scan Sonar

This example shows the particle PHD filter on sonar data using a track management scheme similar to the one show in the Particle PHD section. (Video courtesy of Heriot-Watt University and data from Florida Atlantic University).

Heriot-Watt University and the University of Melbourne 2008