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http://dx.doi.org/10.3837/tiis.2011.09.008

Object Tracking in 3-D Space with Passive Acoustic Sensors using Particle Filter  

Lee, Jin-Seok (Dept. of Biomedical Engineering, Worcester Polytechnic Institute)
Cho, Shung-Han (Mobile Systems Design Laboratory, Dept. of Electrical and Computer Engineering,Stony Brook University-SUNY)
Hong, Sang-Jin (Mobile Systems Design Laboratory, Dept. of Electrical and Computer Engineering,Stony Brook University-SUNY)
Lim, Jae-Chan (Dept. of Electronic Engineering, Sogang University)
Oh, Seong-Jun (College of Information and Communications, Korea University)
Publication Information
KSII Transactions on Internet and Information Systems (TIIS) / v.5, no.9, 2011 , pp. 1632-1652 More about this Journal
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.
Keywords
Acoustic sensors; bearings-only tracking; 3-D object tracking; particle filter; data fusion;
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