Multiextended target tracking (METT) has important applications in many fields, including autonomous vehicles, traffic flow monitoring, etc. However, as an acknowledged METT algorithm, the labeled multi-Bernoulli (LMB) filter cannot handle the intertarget occlusion problem, which frequently observed among METT, leading to an estimated trajectory break and even target loss. To tackle this problem, this article proposes an improved LMB filter with intertarget occlusion handling ability for METT. First, an intertarget occlusion probability (IOP) model based on a labeled random finite set using a laser range finder is developed. The IOP model theoretically describes the probability that each tracked target being occluded, considering both partial and full occlusion. Second, a true detection probability (TDP) model is presented to describe the probability that a target will generate corresponding measurement of a sensor in the presence of occlusion. The TDPs of tracked targets provide a way to integrate their estimated occlusion probabilities into the LMB filter to improve its capability of handling occluded tracks. We carried out multiple vehicle tracking simulation and field test using a laser range finder. Both simulation and experiment results illustrate that our improved LMB filter with occlusion handling ability can successfully tackle the intertarget occlusion problem and outperform conventional algorithms.

中文翻译：

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基于标记的多伯努利滤波器的激光测距仪在多目标跟踪中的目标间遮挡处理

多扩展目标跟踪（METT）在许多领域具有重要应用，包括自动驾驶汽车，交通流量监控等。然而，作为公认的METT算法，标记的多伯努利（LMB）过滤器无法处理经常观察到的目标间遮挡问题。在METT中，导致估计的轨迹中断甚至目标损失。为了解决这个问题，本文提出了一种改进的LMB滤波器，具有针对METT的目标间遮挡处理功能。首先，使用激光测距仪开发了基于标记随机有限集的目标间遮挡概率（IOP）模型。IOP模型在理论上描述了每个跟踪目标被遮挡的可能性，同时考虑了部分和全部遮挡。第二，提出了真实的检测概率（TDP）模型来描述目标在存在遮挡的情况下将生成传感器的相应测量值的概率。跟踪目标的TDP提供了一种将其估计的遮挡概率集成到LMB滤波器中的方法，以提高其处理遮挡的轨迹的能力。我们使用激光测距仪进行了多次车辆跟踪模拟和现场测试。仿真和实验结果均表明，我们改进的具有遮挡处理能力的LMB滤波器可以成功解决目标间遮挡问题，并且优于传统算法。跟踪目标的TDP提供了一种将其估计的遮挡概率集成到LMB滤波器中的方法，以提高其处理遮挡的轨迹的能力。我们使用激光测距仪进行了多次车辆跟踪模拟和现场测试。仿真和实验结果均表明，我们改进的具有遮挡处理能力的LMB滤波器可以成功解决目标间遮挡问题，并且优于传统算法。跟踪目标的TDP提供了一种方法，可以将其估计的遮挡概率集成到LMB滤波器中，以提高其处理遮挡轨迹的能力。我们使用激光测距仪进行了多次车辆跟踪模拟和现场测试。仿真和实验结果均表明，我们改进的具有遮挡处理能力的LMB滤波器可以成功解决目标间遮挡问题，并且优于传统算法。