scholarly journals Real-Time Speaker Tracking Using Particle Filter Sensor Fusion

2004 ◽  
Vol 92 (3) ◽  
pp. 485-494 ◽  
Author(s):  
Y. Chen ◽  
Y. Rui
Keyword(s):  
Particle Filter ◽  
Real Time ◽  
Sensor Fusion ◽  
Speaker Tracking

scholarly journals An Improved Unscented Particle Filter Approach for Multi-Sensor Fusion Target Tracking

Sensors ◽  
2020 ◽  
Vol 20 (23) ◽  
pp. 6842
Author(s):  
Junhai Luo ◽  
Zhiyan Wang ◽  
Yanping Chen ◽  
Man Wu ◽  
Yang Yang
Keyword(s):  
Particle Filter ◽  
Target Tracking ◽  
Real Time ◽  
Sensor Fusion ◽  
Tracking Accuracy ◽  
Fusion Model ◽  
Unscented Transform ◽  
Time Performance ◽  
Unscented Particle Filter ◽  
Distributed Fusion

In this paper, a new approach of multi-sensor fusion algorithm based on the improved unscented particle filter (IUPF) and a new multi-sensor distributed fusion model are proposed. Additionally, we employ a novel multi-target tracking algorithm that combines the joint probabilistic data association (JPDA) algorithm and the IUPF algorithm. To improve the real-time performance of the UPF algorithm for the maneuvering target, minimum skew simplex unscented transform combined with a scaled unscented transform is utilized, which significantly reduces the calculation of UPF sample selection. Moreover, a self-adaptive gain modification coefficient is defined to solve the low accuracy problem caused by the sigma point reduction, and the problem of particle degradation is solved by modifying the weights calculation method. In addition, a new multi-sensor fusion model is proposed, which better integrates radar and infrared sensors. Simulation results show that IUPF effectively improves real-time performance while ensuring the tracking accuracy compared with other algorithms. Besides, compared with the traditional distributed fusion architecture, the proposed new architecture makes better use of the advantages of radar and an infrared sensor and improves the tracking accuracy.

Sequential Sensor Fusion-Based Real-Time LSTM Gait Pattern Controller for Biped Robot

2021 ◽  
Vol 21 (2) ◽  
pp. 2241-2255 ◽  
Author(s):  
Tzuu-Hseng S. Li ◽  
Ping-Huan Kuo ◽  
Chuan-Han Cheng ◽  
Chia-Ching Hung ◽  
Po-Chien Luan ◽  
...  
Keyword(s):  
Real Time ◽  
Sensor Fusion ◽  
Biped Robot ◽  
Gait Pattern
Sign in / Sign up

Export Citation Format

Share Document