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The Greedy Dirichlet Process Filter - An Online Clustering Multi-Target Tracker

Abstract: 

Reliable collision avoidance is one of the main requirements for autonomous driving.
Hence, it is important to correctly estimate the states of an unknown number of static and dynamic objects in real-time.
Here, data association is a major challenge for every multi-target tracker.
We propose a novel multi-target tracker called Greedy Dirichlet Process Filter (GDPF) based on the non-parametric Bayesian model called Dirichlet Processes and the fast posterior computation algorithm Sequential Updating and Greedy Search (SUGS).
By adding a temporal dependence we get a real-time capable tracking framework without the need of a previous clustering or data association step.
Real-world tests show that GDPF outperforms other multi-target tracker in terms of accuracy and stability.

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Paper Details

Authors:
Patrick Burger, Hans-Joachim Wuensche
Submitted On:
27 November 2018 - 1:23pm
Short Link:
Type:
Presentation Slides
Event:
Presenter's Name:
Benjamin Naujoks
Paper Code:
IVC-L.2.4
Document Year:
2018
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Document Files

gdpf_presentation.zip

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[1] Patrick Burger, Hans-Joachim Wuensche, "The Greedy Dirichlet Process Filter - An Online Clustering Multi-Target Tracker", IEEE SigPort, 2018. [Online]. Available: http://sigport.org/3815. Accessed: Nov. 17, 2019.
@article{3815-18,
url = {http://sigport.org/3815},
author = {Patrick Burger; Hans-Joachim Wuensche },
publisher = {IEEE SigPort},
title = {The Greedy Dirichlet Process Filter - An Online Clustering Multi-Target Tracker},
year = {2018} }
TY - EJOUR
T1 - The Greedy Dirichlet Process Filter - An Online Clustering Multi-Target Tracker
AU - Patrick Burger; Hans-Joachim Wuensche
PY - 2018
PB - IEEE SigPort
UR - http://sigport.org/3815
ER -
Patrick Burger, Hans-Joachim Wuensche. (2018). The Greedy Dirichlet Process Filter - An Online Clustering Multi-Target Tracker. IEEE SigPort. http://sigport.org/3815
Patrick Burger, Hans-Joachim Wuensche, 2018. The Greedy Dirichlet Process Filter - An Online Clustering Multi-Target Tracker. Available at: http://sigport.org/3815.
Patrick Burger, Hans-Joachim Wuensche. (2018). "The Greedy Dirichlet Process Filter - An Online Clustering Multi-Target Tracker." Web.
1. Patrick Burger, Hans-Joachim Wuensche. The Greedy Dirichlet Process Filter - An Online Clustering Multi-Target Tracker [Internet]. IEEE SigPort; 2018. Available from : http://sigport.org/3815