Object Tracking in 3-D Space with Passive Acoustic Sensors using Particle Filter
- Authors
- Lee, Jinseok; Cho, Shung Han; Hong, Sangjin; Lim, Jaechan; Oh, Seong-Jun
- Issue Date
- 29-9월-2011
- Publisher
- KSII-KOR SOC INTERNET INFORMATION
- Keywords
- Acoustic sensors; bearings-only tracking; 3-D object tracking; particle filter; data fusion
- Citation
- KSII TRANSACTIONS ON INTERNET AND INFORMATION SYSTEMS, v.5, no.9, pp.1632 - 1652
- Indexed
- SCIE
SCOPUS
KCI
OTHER
- Journal Title
- KSII TRANSACTIONS ON INTERNET AND INFORMATION SYSTEMS
- Volume
- 5
- Number
- 9
- Start Page
- 1632
- End Page
- 1652
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/111560
- DOI
- 10.3837/tiis.2011.09.008
- ISSN
- 1976-7277
- Abstract
- This paper considers the object tracking problem in three dimensional (3-D) space when the azimuth and elevation of the object are available from the passive acoustic sensor. The particle filtering technique can be directly applied to estimate the 3-D object location, but we propose to decompose the 3-D particle filter into the three planes' particle filters, which are individually designed for the 2-D bearings-only tracking problems. 2-D bearing information is derived from the azimuth and elevation of the object to be used for the 2-D particle filter. Two estimates of three planes' particle filters are selected based on the characterization of the acoustic sensor operation in a noisy environment. The Cramer-Rao Lower Bound of the proposed 2-D particle filter-based algorithm is derived and compared against the algorithm that is based on the direct 3-D particle filter.
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