Ants for track initiation of bearings-only tracking

A novel track initiation method using ants of different tasks, a kind of ant colony optimization (ACO) algorithm, is developed in this paper. For the proposed system of ants of different tasks, we assume that the number of tracks to be initiated equals the one of tasks, and moreover, ants of the same task search for a given track by collaboration, while ants of different tasks will compete with each other during the search process. In order to fulfill such behaviors, the pheromone model is established, and the corresponding objective function to be optimized is also presented. Numerical simulation results indicate that, for the case of bearings-only multi-sensor-multi-target tracking, the track initiation performance for the proposed system of ants of different tasks performs well compared to other track initiation methods.     

Ant colony optimization for bearings-only maneuvering target tracking in sensors network

In this paper, the problem of bearings-only maneuvering target tracking in sensors network is investigated. Two objectives are proposed and optimized by the ant colony optimization （ACO）, then two kinds of node searching strategies of the ACO algorithm are presented. On the basis of the nodes determined by the ACO algorithm, the interacting multiple models extended Kalman filter （IMMEKF） for the multi-sensor bearings-only maneuvering target tracking is introduced. Simulation results indicate that the proposed ACO algorithm performs better than the Closest Nodes method. Furthermore, the Strategy 2 of the two given strategies is preferred in terms of the requirement of real time.     

Ant colony optimization for bearings-only maneuvering target tracking in sensors network

In this paper, the problem of bearings-only maneuvering target tracking in sensors network is investigated. Two objectives are proposed and optimized by the ant colony optimization (ACO), then two kinds of node searching strategies of the ACO algorithm are presented. On the basis of the nodes determined by the ACO algorithm, the interacting multiple models extended Kalman filter (IMMEKF) for the multi-sensor bearings-only maneuvering target tracking is introduced. Simulation results indicate that the proposed ACO algorithm performs better than the Closest Nodes method. Furthermore, the Strategy 2 of the two given strategies is preferred in terms of the requirement of real time.     

一种基于改进粒子滤波的多目标跟踪算法

针对复杂背景环境下的多目标跟踪问题,论述了主要的数据关联技术,将目标检测算法与粒子滤波相结合,利用颜色直方图作为观测模型,并利用全领域(GNN)算法进行数据关联.提出一种改进的基于粒子滤波的多目标跟踪算法,实现了视频场景中的多个目标跟踪.该算法对于目标在场景中的频繁出现和消失、相似外表、交叉运动和短暂遮挡等均有较好的处理效果.     

视频序列中面向人的多目标跟踪算法

针对视频序列中人的跟踪问题,提出一种基于运动检测的多目标跟踪算法．跟踪系统由运动目标检测、关联矩阵建立、特殊情况判断及处理以及轨迹关联4部分构成．提出一种基于改进的c-均值聚类的自适应运动分割方法;不同情况下建立不同的关联矩阵,以准确判断实际场景状况;对遮挡问题作出处理,在两个目标遮挡不严重的情况下,分别采用均值漂移算法对其进行跟踪．实验结果表明,该算法具有较强的鲁棒性,能有效实现复杂场景下多目标跟踪．     

基于改进蚁群算法的多目标跟踪数据关联方法

针对多目标跟踪数据关联问题,提出一种快速实现多目标数据关联算法CACDA（Chaos Ant Colony Data Association）,利用蚁群算法的正反馈和并行搜索能力构建初始解并进行优化,引入自适应混沌机制,对信息素进行全局更新和混沌扰动,改善了蚁群算法在搜索后期出现停滞以及收敛于局部最优解的缺陷。实验结果表明,该算法不仅可以获得较高的关联准确率,也可以有效提高关联速度。     

一种粒子势概率假设密度滤波纯方位多目标跟踪算法

针对基于势概率假设密度算法(CPHD)的纯方位多目标跟踪,提出一种新型的多传感器粒子CPHD滤波算法.该算法通过分析混合线性/非线性状态模型的结构信息,结合粒子滤波(PF)与卡尔曼滤波(KF)对各个目标的状态进行预测与估计,运用Mean-Shift方法提取概率假设密度的峰值作为目标状态估计值,并对算法复杂度进行了分析.仿真结果表明,算法可改善目标跟踪效果.     

融合YOLO检测的多目标跟踪算法

针对目前视频多目标跟踪过程中的遮挡问题,提出了一种融合YOLO v3的多目标检测和跟踪算法,选定基于检测跟踪的框架作为跟踪的整体框架,使用YOLO v3来实现对目标信息的检测工作,在选定某一检测类别的基础上,使用本文提出的跟踪算法,通过数据关联完成对此类别的多目标跟踪,并针对跟踪过程中的目标遮挡问题以及因目标遮挡而引起的轨迹跟踪异常的问题,提出了修正算法。测试视频中被遮挡的大部分目标都能准确地跟踪,但在背景移动时也会发生一部分目标身份互换的情况。所提出的算法在解决多目标跟踪中的遮挡问题时具有一定的准确性和实时性。     

A new fast algorithm for multitarget tracking in dense clutter

A fast joint probabilistic data association (FJPDA) algorithm is proposed in this paper. Cluster probability matrix is approximately calculated by a new method, whose elements βli(K) can be taken as evaluation functions. According to values of βti(K), N events with larger joint probabilities can be searched out as the events with guiding joint probabilities, thus, the number of searching nodes will be greatly reduced. As a result, this method effectively reduces the calculation load and makes it possible to be realized on real-time. Theoretical analysis and Monte Carlo simulation results show that this method is efficient.     

Analysis and approximation of performance bound for two-observer bearings-only tracking

This paper presents the analytic recursive formulas of Cramér-Rao lower bound (CRLB) for the switching models system, in which the target moves either with a constant velocity or with a constant speed and a constant turn rate. For the case of two-observer bearings-only maneuvering target tracking, a reliable maneuver detection method is investigated and then utilized to approximate the theoretic CRLB. Finally, to demonstrate the agreement between the approximated CRLB using the proposed maneuver detection method and the theoretic one, a large number of Monte-Carlo runs under different maneuvering scenarios are conducted. Correctness of the analytic recursive formulas of CRLB and effectiveness of the proposed maneuver detection method are verified from these simulations.     

自适应蚁群算法在多目标跟踪中的应用

在多目标状态跟踪估计方法的研究中,多目标数据关联容易陷入局部最优状态以及跟踪精度不高的缺点,提出一种改进蚁群算法的数据关联方法.改进方法为:在传统蚁群算法的基础上,引入标识判定系数来调节信息素浓度的增量,避免某条路径上信息素浓度增长过快,从而陷入局部极值的情况,同时对挥发因子进行自适应控制,保持搜索的平衡性和全局性,避免搜索落入局部最优从而陷入停滞状态.仿真结果表明,改进的蚁群算法在多目标跟踪中,既可有效地避免搜索落入局部最优的弊端,又明显地提高了跟踪精度.     

A novel multiple rule sets data classification algorithm based on ant colony algorithm

Ant colony optimization (ACO) algorithms have been successfully applied in data classification, which aim at discovering a list of classification rules. However, due to the essentially random search in ACO algorithms, the lists of classification rules constructed by ACO-based classification algorithms are not fixed and may be distinctly different even using the same training set. Those differences are generally ignored and some beneficial information cannot be dug from the different data sets, which may lower the predictive accuracy. To overcome this shortcoming, this paper proposes a novel classification rule discovery algorithm based on ACO, named AntMiner_mbc, in which a new model of multiple rule sets is presented to produce multiple lists of rules. Multiple base classifiers are built in AntMiner_mbc, and each base classifier is expected to remedy the weakness of other base classifiers, which can improve the predictive accuracy by exploiting the useful information from various base classifiers. A new heuristic function for ACO is also designed in our algorithm, which considers both of the correlation and coverage for the purpose to avoid deceptive high accuracy. The performance of our algorithm is studied experimentally on 19 publicly available data sets and further compared to several state-of-the-art classification approaches. The experimental results show that the predictive accuracy obtained by our algorithm is statistically higher than that of the compared targets.     

多目标跟踪中多传感器分布式控制策略

分布式传感器网络技术在复杂的多目标跟踪系统中发挥了极其重要的作用.本文针对多传感器多目标跟踪中的分布式传感器控制问题,提出了基于信息论的多传感器控制策略.首先,本文利用随机有限集(RFS)建模,给出了多传感器多伯努利滤波器,并通过一组参数化的多伯努利过程来近似多传感器多伯努利密度.进一步的,通过多伯努利滤波器的序贯蒙特卡罗实现,设计采样方案对多伯努利密度进行粒子采样,用一组带有权值的粒子集近似多目标状态空间分布.随后,借助巴氏距离(Bhattacharyya distance)作为传感器控制的评价函数用于多个传感器的独立并行控制方案的决策制定.作为另外一个重要内容,本文提出了一种基于多目标战术重要性评估的多传感器控制策略.该控制方案旨在评估多目标战术重要性的基础上对威胁度最大的目标进行优先跟踪.最后,仿真实验验证了所提算法的有效性.     

Sensor management for multi-target tracking via multi-Bernoulli filtering

In multi-object stochastic systems, the issue of sensor management is a theoretically and computationally challenging problem. In this paper, we present a novel random finite set (RFS) approach to the multi-target sensor management problem within the partially observed Markov decision process (POMDP) framework. The multi-target state is modelled as a multi-Bernoulli RFS, and the multi-Bernoulli filter is used in conjunction with two different control objectives: maximizing the expected Rényi divergence between the predicted and updated densities, and minimizing the expected posterior cardinality variance. Numerical studies are presented in two scenarios where a mobile sensor tracks five moving targets with different levels of observability.     

一种新的求解MMKP问题的ACO&PR算法

针对多选择多维背包问题(MMKP)的特点,设计一种新型混合算法(ACO＆PR).该算法将线路重连算法(PR)嵌入蚁群算法(ACO),在搜索过程中既考虑解的质量,又考虑解的分散性.线路重连算法在重连过程中,向导解的属性逐步引入起始解属性中,可快速获得该线路上的最优解.实验结果表明,该算法优于其他现有较好的方法,获得了较好的结果.     

高斯混合粒子Cardinalized概率假设密度滤波被动测角多目标跟踪

为解决目标数未知或随时间变化的多目标跟踪问题,通常将多目标状态和观测数据表示为随机集形式,通过Cardinalized概率假设密度(CPHD)滤波,递推计算目标的强度(即概率假设密度,PHD)及目标数的概率分布.然而对于被动测角的非线性跟踪问题,CPHD无法获得闭合解.为此,本文提出一种新的高斯混合粒子CPHD算法,利...     

HELOP: Multi-target tracking based on heuristic empirical learning algorithm and occlusion processing

Multi-target tracking is one of the important fields in computer vision, which aims to solve the problem of matching and correlating targets between adjacent frames. In this paper, we propose a fine-grained track recoverable (FGTR) matching strategy and a heuristic empirical learning (HEL) algorithm. The FGTR matching strategy divides the detected targets into two different sets according to the distance between them, and adopts different matching strategies respectively, in order to reduce false matching, we evaluated the trust degree of the target’s appearance feature information and location feature information, adjusted the proportion of the two reasonably, and improved the accuracy of target matching. In order to solve the problem of trajectory drift caused by the cumulative increase of Kalman filter error during the occlusion process, the HEL algorithm predicts the position information of the target in the next few frames based on the effective information of other previous target trajectories and the motion characteristics of related targets. Make the predicted trajectory closer to the real trajectory. Our proposed method is tested on MOT16 and MOT17, and the experimental results verify the effectiveness of each module, which can effectively solve the occlusion problem and make the tracking more accurate and stable.     

A hybrid ant colony optimization algorithm for optimal multiuser detection in DS-UWB system

A hybrid ant colony optimization algorithm is proposed by introducing extremal optimization local-search algorithm to the ant colony optimization (ACO) algorithm, and is applied to multiuser detection in direct sequence ultra wideband (DS-UWB) communication system in this paper. ACO algorithms have already successfully been applied to combinatorial optimization; however, as the pheromone accumulates, we may not get a global optimum because it can get stuck in a local minimum resulting in a bad steady state. Extremal optimization (EO) is a recently developed local-search heuristic method and has been successfully applied to a wide variety of optimization problems. Hence in this paper, a hybrid ACO algorithm, named ACO-EO algorithm, is proposed by introducing EO to ACO to improve the local-search ability of the algorithm. The ACO-EO algorithm is applied to multiuser detection in DS-UWB communication system, and via computer simulations it is shown that the proposed hybrid ACO algorithm has much better performance than other ACO algorithms and even equal to the optimal multiuser detector.     

A new ant colony optimization algorithm for the multidimensional Knapsack problem

The paper proposes a new ant colony optimization (ACO) approach, called binary ant system (BAS), to multidimensional Knapsack problem (MKP). Different from other ACO-based algorithms applied to MKP, BAS uses a pheromone laying method specially designed for the binary solution structure, and allows the generation of infeasible solutions in the solution construction procedure. A problem specific repair operator is incorporated to repair the infeasible solutions generated in every iteration. Pheromone update rule is designed in such a way that pheromone on the paths can be directly regarded as selecting probability. To avoid premature convergence, the pheromone re-initialization and different pheromone intensification strategy depending on the convergence status of the algorithm are incorporated. Experimental results show the advantages of BAS over other ACO-based approaches for the benchmark problems selected from OR library.     

A new ant colony algorithm for makespan minimization in permutation flow shops

The problem of scheduling in permutation flow shop with the objective of minimizing the maximum completion time, or makespan, is considered. A new ant colony optimization algorithm is developed for solving the problem. A novel mechanism is employed in initializing the pheromone trails based on an initial sequence. Moreover, the pheromone trail intensities are limited between lower and upper bounds which change dynamically. When a complete sequence of jobs is constructed by an artificial ant, a local search is performed to improve the performance quality of the solution. The proposed ant colony algorithm is applied to Taillard’s benchmark problems. Computational experiments suggest that the algorithm yields better results than well-known ant colony optimization algorithms available in the literature.