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Implementation strategies for partic...

Velmurugan, Rajbabu.

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Implementation strategies for particle filter based target tracking.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Implementation strategies for particle filter based target tracking./
作者:	Velmurugan, Rajbabu.
面頁冊數:	172 p.
附註:	Adviser: James H. McClellan.
Contained By:	Dissertation Abstracts International68-05B.
標題:	Engineering, Electronics and Electrical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3261730

Implementation strategies for particle filter based target tracking.
Velmurugan, Rajbabu.

Implementation strategies for particle filter based target tracking. - 172 p.

Adviser: James H. McClellan.

Thesis (Ph.D.)--Georgia Institute of Technology, 2007.

This thesis contributes new algorithms and implementations for particle filter-based target tracking. From an algorithmic perspective, modifications that improve a batch-based acoustic direction-of-arrival (DOA), multi-target, particle filter tracker are presented. The main improvements are reduced execution time and increased robustness to target maneuvers. The key feature of the batch-based tracker is an image template-matching approach that handles data association and clutter in measurements. The particle filter tracker is compared to an extended Kalman filter (EKF) and a Laplacian filter and is shown to perform better for maneuvering targets. Using an approach similar to the acoustic tracker, a radar range-only tracker is also developed. This includes developing the state update and observation models, and proving observability for a batch of range measurements.Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Implementation strategies for particle filter based target tracking.
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100 1 $a Velmurugan, Rajbabu. $3 1272020
245 1 0 $a Implementation strategies for particle filter based target tracking.
300 $a 172 p.
500 $a Adviser: James H. McClellan.
500 $a Source: Dissertation Abstracts International, Volume: 68-05, Section: B, page: 3294.
502 $a Thesis (Ph.D.)--Georgia Institute of Technology, 2007.
520 $a This thesis contributes new algorithms and implementations for particle filter-based target tracking. From an algorithmic perspective, modifications that improve a batch-based acoustic direction-of-arrival (DOA), multi-target, particle filter tracker are presented. The main improvements are reduced execution time and increased robustness to target maneuvers. The key feature of the batch-based tracker is an image template-matching approach that handles data association and clutter in measurements. The particle filter tracker is compared to an extended Kalman filter (EKF) and a Laplacian filter and is shown to perform better for maneuvering targets. Using an approach similar to the acoustic tracker, a radar range-only tracker is also developed. This includes developing the state update and observation models, and proving observability for a batch of range measurements.
520 $a From an implementation perspective, this thesis provides new low-power and real-time implementations for particle filters. First, to achieve a very low-power implementation, two mixed-mode implementation strategies that use analog and digital components are developed. The mixed-mode implementations use analog, multiple-input translinear element (MITE) networks to realize nonlinear functions. The power dissipated in the mixed-mode implementation of a particle filter-based, bearings-only tracker is compared to a digital implementation that uses the CORDIC algorithm to realize the nonlinear functions. The mixed-mode method that uses predominantly analog components is shown to provide a factor of twenty improvement in power savings compared to a digital implementation. Next, real-time implementation strategies for the batch-based acoustic DOA tracker are developed. The characteristics of the digital implementation of the tracker are quantified using digital signal processor (DSP) and field-programmable gate array (FPGA) implementations. The FPGA implementation uses a soft-core or hard-core processor to implement the Newton search in the particle proposal stage. A MITE implementation of the nonlinear DOA update function in the tracker is also presented.
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