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A study of individuals dynamics for multi-target tracking using random finite sets

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Victor Baptista Frencl
Total Authors: 1
Document type: Doctoral Thesis
Press: Campinas, SP.
Institution: Universidade Estadual de Campinas (UNICAMP). Faculdade de Engenharia Elétrica e de Computação
Defense date:
Examining board members:
João Roberto Moreira Neto; Marcelo Gomes da Silva Bruno; Rafael Santos Mendes; Wagner Caradori do Amaral
Advisor: João Bosco Ribeiro do Val

The problem of target tracking is handled in different ways in the literature, either developing more efficient mathematical models to reproduce the dynamics of movements, or building stochastic filters that perform state estimation, such as position and velocity. When it comes to target tracking where the targets of interest are many individuals in motion, the literature lacks on specific studies. Thus, the main objective of the thesis is to deepen the knowledge of individuals tracking. In this scenario, there is a large and variable number of targets, which may arise spontaneously, group together or separate, in addition to measures immersed in false alarms. A study of the Random Finite Sets theory was made, whose mathematical treatment is through the so-called Multi-Target Calculus. Stochastic filters were also studied on this point of view, where the PHD and the GM-PHD filters are the main ones. After created the theoretical basis, three proposals based on this problem were presented: Motion Models for Individuals, a Simulator for Individuals Trajectories and Dynamic Models for Stochastic Filtering. The first proposal is based on building a motion probabilistic shape for each individual. The second proposal involves the creation of a trajectory simulator for individuals to be as plausible as possible to the real movements of a person, in scenarios with variations of terrain, ranked by locomotion difficulty. And finally, the third proposal aims to create a combined and modified dynamic model from models found in the literature, to be inserted in the stochastic filters. Finally, several tests and simulations were made in such a way to test the filters performances and analyze the behavior of the proposed mathematical models and the motion probabilistic shapes (AU)

FAPESP's process: 10/00055-1 - A study of individual dynamics for Multi-Target tracking using random finite sets
Grantee:Victor Baptista Frencl
Support type: Scholarships in Brazil - Doctorate