Simultaneous Distributed Sensor Self-Localization and Target Tracking Using Belief Propagation and Likelihood Consensus

被引：0

作者：

Meyer, Florian ^{[1
]}

Riegler, Erwin ^{[1
]}

Hlinka, Ondrej ^{[1
]}

Hlawatsch, Franz ^{[1
]}

机构：

[1] Vienna Univ Technol, Inst Telecommun, Vienna, Austria

来源：

2012 CONFERENCE RECORD OF THE FORTY SIXTH ASILOMAR CONFERENCE ON SIGNALS, SYSTEMS AND COMPUTERS (ASILOMAR) | 2012年

关键词：

Distributed target tracking; cooperative localization; CoSLAT; nonparametric belief propagation; likelihood consensus;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

We introduce the framework of cooperative simultaneous localization and tracking (CoSLAT), which provides a consistent combination of cooperative self-localization (CSL) and distributed target tracking (OTT) in sensor networks without a fusion center. CoSLAT extends simultaneous localization and tracking (SLAT) in that it uses also intersensor measurements. Starting from a factor graph formulation of the CoSLAT problem, we develop a particle-based, distributed message passing algorithm for CoSLAT that combines nonparametric belief propagation with the likelihood consensus scheme. T he proposed CoSLAT algorithm improves on state-of-the-art CSL and OTT algorithms by exchanging probabilistic information between CSL and OTT. Simulation results demonstrate substantial improvements in both self-localization and tracking performance.

引用

页码：1212 / 1216

页数：5

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