Hybrid Bayesian fusion of range-based and sourceless location estimates under varying observability

Files in This Item:
File Description SizeFormat 
yadav_bleakley_2012.pdf561.14 kBAdobe PDFDownload
Title: Hybrid Bayesian fusion of range-based and sourceless location estimates under varying observability
Authors: Yadav, Nagesh
Bleakley, Chris J.
Permanent link: http://hdl.handle.net/10197/3965
Date: 6-Sep-2012
Abstract: The paper proposes a hybrid Bayesian approach for multi-sensor data fusion for 3D localization. The approach addresses the problem of fusing range-based and sourceless localization estimates under conditions of varying observability in the range-based sub-system. The proposed localization approach uses a mixture of Single-Hypothesis-Tracking (e.g. Kalman filter) and Multi-Hypothesis-Tracking (MHT) (e.g. Particle Filters) Bayesian filtering to improve tracking accuracy under conditions of varying observability. Under conditions of sufficient (or no) range measurements a single hypothesis approach is used. Under the condition of insufficient range measurements (i.e, 1 or 2 ranges), MHT is used, since it more accurately models the distribution of real error in the estimated positions by means of Gaussian mixtures rather that a single Gaussian. The results show up to 10% improvement in 3D position estimation as compared to Single-Constraint-at-a-Time (SCAAT) approach and upto 24% improvement compared to an Extended Kalman Filter approach for intermittent 3 second partial range occlusions when tracking human arm movements.
Type of material: Conference Publication
Publisher: IEEE
Subject LCSH: Bayesian statistical decision theory
Three-dimensional imaging
Observers (Control theory)
DOI: 10.1109/IS.2012.6335119
Language: en
Status of Item: Peer reviewed
Is part of: Intelligent Systems (IS), 2012 6th IEEE International Conference [proceedings]
Conference Details: 6th IEEE International Conference on Intelligent Systems IS’12, Sofia, Bulgaria, September 6-8, 2012
Appears in Collections:Computer Science Research Collection

Show full item record

SCOPUSTM   
Citations 50

1
Last Week
0
Last month
checked on Aug 17, 2018

Page view(s) 20

123
checked on May 25, 2018

Download(s) 50

104
checked on May 25, 2018

Google ScholarTM

Check

Altmetric


This item is available under the Attribution-NonCommercial-NoDerivs 3.0 Ireland. No item may be reproduced for commercial purposes. For other possible restrictions on use please refer to the publisher's URL where this is made available, or to notes contained in the item itself. Other terms may apply.