An empirical study into the use of Chernoff information for robust, distributed fusion of Gaussian mixture models

2006 9th International Conference on Information Fusion, FUSION

Volumn , Issue , 2006, Pages

  Julier, Simon J ^a,b  

^a NAVAL RESEARCH LABORATORY   (United States)

^b UNIVERSITY COLLEGE LONDON   (United Kingdom)

Author keywords

Chernoff information; Covariance intersection; Gaussian mixture models

Indexed keywords

BEARING-ONLY; CHERNOFF INFORMATION; COVARIANCE INTERSECTION; DISTRIBUTED FUSION; DISTRIBUTED TRACKING; EMPIRICAL STUDIES; FIRST-ORDER APPROXIMATIONS; GAUSSIAN MIXTURE MODELING; GAUSSIAN MIXTURE MODELS; INTERNATIONAL CONFERENCES; SENSOR NODES;

COMMUNICATION CHANNELS (INFORMATION THEORY); DATA FUSION; FUSION REACTIONS; INFORMATION FUSION; NUCLEAR PHYSICS; OBJECT RECOGNITION; SENSORS; TELECOMMUNICATION EQUIPMENT; TRELLIS CODES;

SENSOR DATA FUSION;

EID: 50149120558     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICIF.2006.301755     Document Type: Conference Paper

References (24)

1. S. J. Julier and H. F. Durrant-Whyte. On the Role of Process Models in Autonomous Land Vehicle Navigation Systems. IEEE Transactions on Robotics and Automation, 19(1):1-14, February 2003.
2. Martin E. Liggins II, Chee-Yee Chong, Ivan Kadar, Mark G. Alford, Vincent Vannicola, and Stelios Thomopoulos. Distributed fusion architectures and algorithms for target tracking. Proceedings of the IEEE, 85(2):95-107, 1997.
3. S. Grime and H. F. Durrant-Whyte. Data fusion in decentralized sensor fusion networks. Control Engineering Practice, 2(5):849-863, 1994.
4. Simukai W. Utete. Network Management in Decentralised Sensing Systems. PhD thesis, Robotics Research Group, Department of Engineering Science, University of Oxford, January 1995.
5. L. Ong, B. Upcroft, M. Ridley, T. Bailey, S. Sukkarieh and H. Durrant-Whyte. Decentralised data fusion with particles. In Claude Sammut, editor, Proceedings of the Australasian Conference on Robotics and Automation 2004, 5-7 December 2004.
6. J. K. Uhlmann. Dynamic Map Building and Localization for Autonomous Vehicles. PhD thesis, University of Oxford, 1995.
7. S. J. Julier and J. K. Uhlmann. A Non-divergent Estimation Algorithm in the Presence of Unknown Correlations. In Proceedings of the IEEE American Control Conference, volume 4, pages 2369-2373, Albuquerque NM, USA, June 1997.
8. Branko Ristic, Sanjeev Arulampalam, and Neil Gordon. Beyond the Kalman Filter: Particle Filters for Tracking Applications. Artech House, 2004.
9. N. Peach. Bearings-only tracking using a set of range-parameterised extended kalman filters. IEE Proceedings - Control Theory and Applications, 142(1):73-80, January 1995.
10. R. Mahler. Optimal / robust distributed data fusion: A unified approach. In Ivan Kadar, editor, The. Proceedings of AeroSense: The 14th International Symposium on Aerospace/Defense Sensing, Simulation and Controls, volume 4052 of Signal Processing, Sensor Fusion, and Target Recognition IX, pages 128-138, Orlando, FL, USA, August 2000 2000. SPIE, SPIE.
11. M. Hurley. An information-theoretic justification for covariance intersection and its generalization. In Proceedings of the 2002 FUSION Conference, Annapolis, MD, USA, 7-11 July 2002.
12. B. Upcroft. Rich probabilistic representations for bearing only decentralised data fusion. In Proceedings of FUSION'05, Philadelphia, PA, USA, 25-29 July 2005.
13. A. G. O. Mutambara. Decentralized Estimation and Control for Nonlinear Systems. CRC Press, Boca Raton FL, USA, 1998.
14. T. M. Berg and H. F. Durrant-Whyte. Model Distribution in Decentralized Multi-Sensor Data Fusion. In Proc. American Control Conference, volume 3, pages 2292-2293. IEEE, 1991.
15. C. Chong and S. Mori. Graphical models for nonlinear distributed estimation. In Proceedings of FUSION '04, Stockholm, Sweden, 28th June - 1st July 2004.
16. J. O'Brien. An algorithm for the fusion of correlated probabilities. In Proceedings of FUSION'98, volume 2, pages 565-571, Las Vegas, NV, USA, 6-9 July 1998.
17. I. Hwang, K. Roy, H. Balakrishnan, and C. Tomlin. A distributed multiple-target identity management algorithm in sensor networks. In The Proceedings of the 4Srd IEEE Conference on Decision and Control, December 2004.
18. D. Comaniciu, V. Ramesh, and P. Meer. Kernel-based object tracking. IEEE Transactions on Pattern Analysis and Machine Intelligence, 25(5):564-577, May 2003.
19. R. S. Buey and K. D. Senne. Digital synthesis of non-linear filters. Automatica, 7:287-298, 1971.
20. P. J. Davis and R. Rabinowitz. Methods of Numerical Integration. Academic Press, New York, NY, USA, 1984.
21. Jacob Goldberger and Hagai Aronowitz. A distance measure between gmms based on the unscented transform and its application to speaker recognition. In Proceedings of the 9th Eurospeech Conference, Lisbon, Portugal, 4-8 September 2005.
22. S. J. Julier, J. K. Uhlmann and H. F. Durrant-Whyte. A new approach for the nonlinear transformation of means and covariances in filters and estimators. IEEE Transactions on Automatic Control, 45(3):477-482, March 2000.
23. D. L. Alspach and H. W. Sorenson. Nonlinear Bayesian Estimation Using Gaussian Sum Approximations. IEEE Transactions on Automatic Control, AC-17(4):439-447, August 1972.
24. Jason L. Williams and Peter S. Maybeck. Cost-function-based hypothesis control techniques for multiple hypothesis tracking. In Proc. Sixth International Conference of Information Fusion, pages 1047-1054. International Society of Information Fusion, July 2003.