Multi-Hypotheses Tracking using the Dempster–Shafer Theory, application to ambiguous road context
Gruyer, Dominique, Demmel, Sébastien, Magnier, Valentin, & Belaroussi, Rachid (2016) Multi-Hypotheses Tracking using the Dempster–Shafer Theory, application to ambiguous road context. Information Fusion, 29, pp. 40-56.
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This paper presents a Multi-Hypotheses Tracking (MHT) approach that allows solving ambiguities that arise with previous methods of associating targets and tracks within a highly volatile vehicular environment. The previous approach based on the Dempster–Shafer Theory assumes that associations between tracks and targets are unique; this was shown to allow the formation of ghost tracks when there was too much ambiguity or conflict for the system to take a meaningful decision. The MHT algorithm described in this paper removes this uniqueness condition, allowing the system to include ambiguity and even to prevent making any decision if available data are poor. We provide a general introduction to the Dempster–Shafer Theory and present the previously used approach. Then, we explain our MHT mechanism and provide evidence of its increased performance in reducing the amount of ghost tracks and false positive processed by the tracking system.
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|Item Type:||Journal Article|
|Keywords:||Tracking, Association, Ambiguity, Dempster–Shafer Theory|
|Subjects:||Australian and New Zealand Standard Research Classification > MATHEMATICAL SCIENCES (010000) > APPLIED MATHEMATICS (010200) > Applied Mathematics not elsewhere classified (010299)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AUTOMOTIVE ENGINEERING (090200) > Automotive Safety Engineering (090204)
|Divisions:||Current > Research Centres > Centre for Accident Research & Road Safety - Qld (CARRS-Q)
Current > QUT Faculties and Divisions > Faculty of Health
Current > Institutes > Institute of Health and Biomedical Innovation
Current > Schools > School of Psychology & Counselling
|Copyright Owner:||Copyright 2015 Elsevier B.V.|
|Copyright Statement:||This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/|
|Deposited On:||10 Dec 2015 02:17|
|Last Modified:||13 Dec 2015 21:29|
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