摄像机网络中的一种多目标分布式跟踪策略

为了实现摄像机网络中的多目标分布式跟踪和解决存在的“朴素”问题,提出了一种基于信息一致性的多目标分布式跟踪策略。首先通过对分布式多目标跟踪问题的建模,得到基于平均一致性和信息加权一致性的网络中每个节点的最佳状态估计值及其信息矩阵;然后通过考虑虚假测量值和一致性融合,将来自于多个传感器的测量值与具体的目标关联起来,得到采用信息形式融合来自于多个传感器的测量值的状态估计方程,从而实现对多目标的数据关联和分布式跟踪。仿真实验结果表明,提出的多目标信息一致性跟踪算法相比于目前几种先进的跟踪算法,在平均误差性能方面不仅对于虚假测量值/杂波具有更好的鲁棒性,而且也有更好的收敛性。

Multi-target distributed tracking strategy in camera networks

In order to implement multi-target distributed tracking in camera network and solve the problem of "naivety", a multi-target distributed tracking strategy based on information consensus is proposed in this paper. Firstly, by modeling the distributed multi-target tracking problem, the optimal state estimation value and its information matrix for each node in the network are obtained based on average consensus and information weighted consensus. Then, by considering the false measurements and consensus fusion, the measurements from multiple sensors are associated with specific target, and the state estimation equations are obtained by using information form for combining measurements from multiple sensors, so as to implement the data association and distributed tracking for multiple targets. The simulation results show that the proposed multi-target information consensus tracking algorithm has better robustness and convergence than the other advanced tracking algorithms in terms of average error performance.