Multi-sensor moving target tracking using particle filter

摘要

The principle of target tracking and data fusion techniques are discussed. To resolve high uncertainty that exists in sensors of mobile robots, the Cross-Sensor and Cross-Modality (CSCM) data fusion algorithm is presented. The algorithm is based on particle filter techniques, fuses the information coming from multiple sensors and merges different state space models. So it can be used to eliminate system and measurement noise and estimate value of position and heading of mobile robot. On simulation experiments, we compare different cases such as single sensor and multi-sensor data fusion, the results demonstrate the feasibility and effectiveness of this algorithm and exhibits good tracking performance.