Bearing-only tracking with a mixture of von Mises distributions

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 707-712

  Markovic, Ivan ^a   Petrovic, Ivan ^a  

^a UNIVERSITY OF ZAGREB   (Croatia)

Author keywords

[No Author keywords available]

Indexed keywords

BEARING ONLY TRACKING; CLASSICAL APPROACH; CLOSED FORM SOLUTIONS; DIRECTIONAL DATA; MEASUREMENT MODEL; MIXTURE COMPONENTS; MULTIMODAL DISTRIBUTIONS; NONLINEAR STATE; PARTICLE FILTER; SPEAKER TRACKING; STATE REPRESENTATION; STATE SPACE; SYNTHETIC DATASETS; TRANSITIONAL PROBABILITY; VON MISES; VON MISES DISTRIBUTION;

INTELLIGENT SYSTEMS; MIXTURES; MONTE CARLO METHODS; TRACKING (POSITION);

PROBABILITY DISTRIBUTIONS;

EID: 84872336219     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6385600     Document Type: Conference Paper

References (21)

1. H. Shatkay and L. Kaelbling, "Learning Geometrically-Constrained Hidden Markov Models for Robot Navigation: Bridging the Topological-Geometrical Gap," Journal of Artifical Intelligence Research, vol. 16, pp. 167-207, 2002.
2. N. Roy, G. Gordon, and S. Thrun, "Finding Approximate POMDP Solutions Through Belief Compression," Journal of Artifical Intelligence Research, vol. 23, pp. 1-40, 2005.
3. D. Nikovski, "State-Aggregation Algorithms for Learning Probabilistic Models for Robot Control," Ph.D. dissertation, Carnegie Mellon University, 2002.
4. I. Marković and I. Petrović, "Speaker Localization and Tracking with a Microphone Array on a Mobile Robot Using von Mises Distribution and Particle Filtering," Robotics and Autonomous Systems, vol. 58, no. 11, pp. 1185-1196, Nov. 2010.
5. S. Thrun, W. Burgard, and D. Fox, Probabilistic Robotics. The MIT Press, 2006.
6. S. Arulampalam, S. Maskell, N. Gordon, and T. Clapp, "A Tutorial on Particle Filters for On-line Non-linear/Non-Gaussian Bayesian Tracking," Signal Processing, vol. 50, pp. 174-188, 2001.
7. R. von Mises, "Uber die 'Ganzzahligkeit' der Atomgewicht und Verwandte Fragen," Physikalische Zeitschrift, no. 19, pp. 490-500, 1918.
8. K. V. Mardia and P. E. Jupp, Directional Statistics. New York: Wiley, 1999.
9. R. F. Murray and Y. Morgenstern, "Cue Combination on the Circle and the Sphere," Journal of Vision, vol. 10, no. 11, pp. 1-11, 2010.
10. L.-L. S. Ong, "Non-Gaussian Representations for Decentralised Bayesian Estimation," Ph.D. dissertation, The University of Sydney, 2007.
11. S. M. Kay, Fundamentals of Statistical Signal Processing: Estimation Theory. Prentice Hall, 1993.
12. M. West, "Approximating Posterior Distributions by Mixtures," Journal of Royal Statistical Society, Series B, vol. 55, no. 2, pp. 409-442, 1993.
13. S. Calderara, A. Prati, and R. Cucchiara, "Mixtures of von Mises Distributions for People Trajectory Shape Analysis," IEEE Transactions on Circuits and Systems for Video Technology, vol. 21, no. 4, pp. 457-471, 2011.
14. S. Jurić-Kavelj, I. Marković, and I. Petrović, "People Tracking with Heterogeneous Sensors using JPDAF with Entropy Based Track Management," in Proceedings of the 5th European Conference on Mobile Robots (ECMR2011), 2011, pp. 31-36.
15. T. McGraw, B. C. Vemuri, B. Yezierski, and T. Mareci, "Von Mises- Fisher Mixture Model of the Diffusion ODF," in 3rd IEEE International Symposium on Biomedical Imaging: Nano to Macro, 2006, pp. 65-68.
16. T. M. Cover and J. A. Thomas, Elements of Information Theory. John Wiley & Sons, Inc., 2006.
17. A. Rényi, Probability Theory. London: North-Holland, 1970.
18. M. Coates, "Distributed Particle Filters for Sensor Networks," in Information Processing in Sensor Networks (ISPN 2003). Springer, 2004, pp. 99-107.
19. J. Vermaak and A. Blake, "Nonlinear Filtering for Speaker Tracking in Noisy and Reverberant Environments," in Proceeding of the IEEE International Conference on Acoustic, Speech and Signal Processing, 2001.
20. C. Musso, N. Oudjane, and F. Le Gland, "Improving Regularised Particle Filters," in Sequential Monte Carlo Methods in Practice, A. Doucet, N. de Freitas, and N. Gordon, Eds. Springer-Verlag, 2001, pp. 247-272.
21. IEEE Subcommittee, "IEEE Recommended Practice for Speech Quality Measurements," IEEE Transactions on Audio and Electroacoustics, vol. 17, no. 3, pp. 225-246, 1969.