Journal of Applied Sciences1812-56541812-5662Asian Network for Scientific Information10.3923/jas.2009.924.930Yousefi RezaiiT.TinatiM.A.5200995In this study the Regularized and simplified Monte Carlo-Joint
Probabilistic Data Association Filter (RMC-JPDAF) is proposed and applied
to the classical problem of multiple target tracking in a cluttered area.
To encounter with the data association problem that arises due to unlabeled
measurements in the presence of clutter, we have used the Joint Probabilistic
Data Association Filter (JPDAF). The Monte Carlo methods are used in order
to the fact that they have the ability to estimate any general state-space
model with nonlinear and non-Gaussian functions for target dynamics and
measurements likelihood. The Conventional implementation of Monte Carlo-JPDAF
(MC-JPDAF) uses the resampling stage in order to reduce the variance of
samples (called degeneracy problem); however this procedure itself causes
another problem called sample impoverishment phenomenon, which is unavoidable
and the tracking performance will decrease. So, we propose to use the
regularized resampling stage instead, to counteract this shortcoming.
Finally, the target dynamics model is used as the proposal distribution
in MC-JPDAF, in order to decrease the computational cost while the performance
of the tracking system is nearly maintained. The simulation results of
the proposed system are presented and compared with those of the standard
Monte Carlo implementation of FPDAF and the performance improvement of
the proposed algorithm is proven.]]>Bar-Shalom, Y. and T.E. Fotman,1988Chen, Z.,2003Fortmann, T. and Y. Bar-Shalom and M. Scheffe,1983Frank, O. and J. Nieto and J. Guivant and S. Scheding,2003Gordon, N.J. and D.J. Salmond and D. Fisher,1997Karlsson, R. and F. Gustafsson,2001Lio, J. and M. Chu and J.E. Reich,2007Musso, C. and N. Oudjane and F. LeGland,2001Reid, D.B.,1979Schulz, D., W. Burgard, D. Fox and A.B. Cremers,2003Vermaak, J. and S.J. Godsill and P. Perez,2005Arulampalam, M.S., S. Maskell, N. Gordon and T. Clapp,2002