蔡秀梅,王妍,卞静伟,吴成茂

• 1:西安邮电大学自动化学院
• 2:西安邮电大学电子工程学院

摘要(Abstract)：

多目标跟踪在军事、医疗和交通等方面应用广泛。考虑存在误检、漏检和噪声的情况,数据关联问题成为多目标跟踪中一个核心难点问题。通过介绍最近邻法、多假设关联、概率数据关联、联合概率数据关联、粒子滤波和模糊目标跟踪等6种经典数据关联算法,分析各种算法的优点和局限性,以及近几年的研究进展,展望其未来的发展趋势。

关键词(KeyWords)： 多目标跟踪;数据关联;最近邻法;多假设关联;概率数据关联

Abstract:

Keywords:

基金项目(Foundation):

作者(Author): 蔡秀梅,王妍,卞静伟,吴成茂

DOI: 10.13682/j.issn.2095-6533.2021.02.012

参考文献(References)：

• [1] 林椹尠，郑兴宁，吴成茂.最佳伙伴相似性引导的核相关滤波跟踪算法[J].西安邮电大学学报，2019,24(6):27-34.LIN Z X,ZHENG X N,WU C M.Kernel correlation filtering tracking algorithm guided by best partner similarity[J].Journal of Xi'an University of Posts and Telecommunications,2019,24(6):27-34.(in Chinese)
• [2] 徐涛，马克，刘才华.基于深度学习的行人多目标跟踪方法[J].吉林大学学报(工学版),2021,51(1):27-38.XU T,MA K,LIU C H.Pedestrian multi-target tracking method based on deep learning[J].Journal of Jilin University(Engineering Edition),2021,51(1):27-38.(in Chinese)
• [3] 李娜，李大湘，刘颖.基于多示例学习的目标跟踪算法[J].西安邮电大学学报，2014,19(2):43-48.LI N,LI D X,LIU Y.Target tracking algorithm based on multi-instance learning[J].Journal of Xi'an University of Posts and Telecommunications,2014,19(2):43-48.(in Chinese)
• [4] 潘静岩，潘媚媚，魏勐，等.一种参数自适应变化的强机动目标跟踪算法[J].西安邮电大学学报，2019,24(3):76-81.PAN J Y,PAN M M,WEI M,et al.A tracking algorithm of strong maneuvering target with adaptive parameter change[J].Journal of Xi'an University of Posts and Telecommunications,2019,24(3):76-81.(in Chinese)
• [5] SINGER R,SEA R.New results in optimizing surveillance system tracking and data correlation performance in dense multitarget environments[J].Automatic Control IEEE Transactions,1973,18(6):571-582.
• [6] KSUZ K,CEMGIL A T.The comparison of the performances of global nearest neighbor and probability hypothesis density filter for varying clutter rates[C]//Proceedings of the 2016 24th Signal Processing and Communication Application Conference (SIU).Zonguldak:IEEE,2016:677-680.
• [7] KOSUGE Y,TSUJIMICHI S,MANO S,et al.Suboptimal techniques for track-oriented multiple hypothesis tracking algorithm and JPDA algorithm for multitarget tracking to be equivalent[J].Electronics & Communications in Japan(Part I:Communications),2015,81(11):24-35.
• [8] BAR-SHALOM Y.Tracking in a cluttered environment with probabilistic data association[J].Automatica,1975,11(5):451-460.
• [9] MCGEE J A,LUGINBUHL T E,DIBIASE J H,et al.A modified PDAF algorithm for measurement covariances that vary within a time scan[J].IEEE Transactions on Aerospace and Electronic Systems,2012,48(1):906-912.
• [10] FORTMANN T,BAR-SHALOM Y,SCHEFFE M.Sonar tracking of multiple targets using joint probabilistic data association[J].IEEE Journal of Oceanic Engineering,1983,8(3):173-184.
• [11] SHI Y F,CHONG S Y,SONG T L.Iterative joint integrated particle filter data association for multitarget tracking in clutter[C]//Proceedings of the 2015 International Conference on Control,Automation and Information Sciences (ICCAIS).Changshu:IEEE,2015:414-419.
• [12] HUE C,CADRE J P L,PEREZ P.Tracking multiple objects with particle filtering[J].IEEE Transactions on Aerospace and Electronic Systems,2002,38(3):791-812.
• [13] SATAPATHI G S,SRIHARI P.All neighbor fuzzy relational data association for multitarget tracking in the presence of ECM[C]//Proceedings of the 2016 IEEE Annual India Conference (INDICON).Bangalore:IEEE,2017:1-5.
• [14] 贺正洪，雷英杰，雷蕾.基于直觉模糊聚类的数据关联算法[J].计算机应用，2011,31(3):647-650.HE Z H,LEI Y J,LEI L.Data association algorithm based on intuitionistic fuzzy clustering[J].Computer Application,2011,31 (3):647-650.(in Chinese)
• [15] 王晓君，裴福俊，刘红云.一种改进马氏距离的最近邻数据关联算法[J].导航定位学报，2015,3(4):50-56.WANG X J,PEI F J,LIU H Y.A nearest neighbor data association algorithm based on improved Mahalanobis distance[J].Journal of Navigation and Positioning,2015,3(4):50-56.(in Chinese)
• [16] 田宏伟，敬忠良，胡士强，等.基于多速率运动模型的多帧最近邻数据关联算法[J].上海交通大学学报，2005(3):413-416.TIAN H W,JING Z L,HU S Q,et al.Multi-frame nearest neighbor data association algorithm based on multi-rate motion model[J].Journal of Shanghai Jiaotong University,2005(3):413-416.(in Chinese)
• [17] 赵峰，赵宏钟，黄孟俊，等.径向长度特征辅助的多目标数据关联算法[J].制导与引信，2010,31(2):47-52.ZHAO F,ZHAO H Z,HUANG M J,et al.Multi-objective data association algorithm assisted by radial length feature[J].Guidance and Fuze,2010,31(2):47-52.(in Chinese)
• [18] 胡朋启，李蔚清.异类传感器数据融合的最近邻-点拓扑关联法[J].计算机与数字工程，2019,47(6):1347-1350.HU P Q,LI W Q.Nearest neighbor-point topology association method for heterogeneous sensor data fusion,2019,47(6):1347-1350.(in Chinese)
• [19] REID D.An algorithm for tracking multiple targets[J].IEEE Transactions on Automatic Control,1979,24(6):843-854.
• [20] 张敏怡，郭剑辉，赵春霞，等.一种改进的LAP多目标跟踪数据互联方法[J].信息技术，2017(1):12-16.ZHANG M Y,GUO J H,ZHAO C X,et al.An improved data interconnection method for LAP multi-target tracking[J].Information Technology,2017(1):12-16.(in Chinese)
• [21] 李范鸣，刘士建，吴常泳.引入目标灰度信息的多假设跟踪方法[J].系统工程与电子技术，2006,28(8):1270-1273.LI F M,LIU S J,WU C Y.Multi-hypothesis tracking method with target gray information[J].Systems Engineering and Electronics,2006,28(8):1270-1273.(in Chinese)
• [22] 楼晓祥.基于多假设的目标检测跟踪算法[J].电子技术与软件工程，2018(10):73.LOU X X.Target detection and tracking algorithm based on multiple assumptions[J].Electronic Technology and Software Engineering,2018(10):73.(in Chinese)
• [23] 靳标，李聪，郭交，等.多普勒信息辅助的杂波环境下多目标跟踪算法[J].电子科技大学学报，2019,48(4):511-517.JI B,LI C,GUO J,et al.Multi-target tracking algorithm aided by Doppler information in clutter environment[J].Journal of University of Electronic Science and Technology of China,2019,48(4):511-517.(in Chinese)
• [24] 陈晓，李亚安，李余兴，等.基于距离加权的概率数据关联机动目标跟踪算法[J].上海交通大学学报，2018,52(4):474-479.CHEN X,LI Y A,Li Y X,et al.Tracking algorithm of maneuvering target based on probability data association based on distance weighting[J].Journal of Shanghai Jiaotong University,2018,52(4):474-479.(in Chinese)
• [25] NI L Q,GAO S S,XUE L.Improved probabilistic data association and its application for target tracking in clutter[C]//Proceedings of the International Conference on Electronics.Ningbo:IEEE,2011:293-296.
• [26] 伍明，李琳琳，孙继银.基于概率数据关联交互多模滤波的移动机器人位置环境下动态目标跟踪[J].机器人，2012,34(6):668-679.WU M,LI L L,SUN J Y.Dynamic target tracking in mobile robot location environment based on probabilistic association interactive multi-mode filtering[J].Robot,2012,34(6):668-679.(in Chinese)
• [27] 程婷，何子述，李亚星.一种具有自适应关联门的杂波中机动目标跟踪算法[J].电子与信息学报，2012,34(4):865-870.CHENG T,HE Z S,LI Y X.A maneuvering target tracking algorithm in clutter with adaptive correlation gate[J].Journal of Electronics and Information Technology,2012,34(4):865-870.(in Chinese)
• [28] 王树亮，毕大平，阮怀林，等.基于视觉注意机制的认知雷达数据关联算法[J].航空学报，2018,39(6):152-160.WANG S L,BI D P,RUAN H L,et al.Cognitive radar data association algorithm based on visual attention mechanism[J].Journal of Aviation,2018,39 (6):152-160.(in Chinese)
• [29] 马璐，王刚.多目标跟踪中基于特征辅助的概率数据关联算法[J].现代电子技术，2012,35(4):18-21.MA L,WANG G.Probabilistic data association algorithm based on feature assistance in multi-target tracking[J].Modern Electronic Technology,2012,35(4):18-21.(in Chinese)
• [30] 王鹏宇，赵世杰，马天飞，等.基于联合概率数据关联的车用多传感器目标跟踪融合算法[J].吉林大学学报(工学版),2019,49(5):1420-1427.WANG P Y,ZHAO S J,MA T F,et al.Vehicle multi-sensor target tracking fusion algorithm based on joint probability data association[J].Journal of Jilin University (Engineering Edition),2019,49(5):1420-1427.(in Chinese)
• [31] 禹磊，唐硕.雷达多目标跟踪的关联粒子滤波研究[J].计算机仿真，2012,29(9):17-21.YU L,TANG S.Research on correlation particle filter for radar multi-target tracking[J].Computer Simulation,2012,29(9):17-21.(in Chinese)
• [32] 万琴，王耀南，袁小芳.改进联合概率数据关联的视频多目标快速跟踪[J].控制理论与应用，2011,28(10):1421-1430.WAN Q,WANG Y N,YUAN X F.Fast video multi-target tracking based on improved joint probability data association[J].Control Theory and Application,2011,28(10):1421-1430.(in Chinese)
• [33] 金加根，李文锋，薛小红，等.基于元数据的数据互联算法[J].计算机研究与发展，2011,48(S2):236-241.JIN J G,LI W F,XUE X H,et al.Data interconnection algorithm based on matadata[J].Journal of Computer Research and Development,2011,48(S2):236-241.(in Chinese)
• [34] 朱晓钢，杨兵，许华杰.支持无线传感器网络多目标跟踪的聚类数据关联算法研究[J].计算机科学，2012,39(S1):24-27.ZHU X G,YANG B,XU H J.Research on clustering data association algorithm supporting multi-target tracking in wireless sensor networks[J].Computer Science,2012,39(S1):24-27.(in Chinese)
• [35] HUE C,CADRE J P L,PEREZ P.Tracking multiple moving targets with partice filtering[J].IEEE Transactions on Signal Processing,2002,38(3):791-812.
• [36] 张培尼，穆志纯.基于GMM-RBMCDA的实时监控多目标跟踪方法[J].计算机应用研究，2012,29(11):4345-4349.ZHANG P N,MU Z C.Real-time monitoring multi-target tracking method based on GMM-RBMCDA[J].Application Research of Computers,2012,29(11):4345-4349.(in Chinese)
• [37] GORDON N J,SALMOND D J,SMITH A F M.Novel approach to nonlinear/non-Gaussian Bayesian state estimation[J].IEEE Proceedings on Radar and Signal Processing,1993,140 (2):107-113.
• [38] 周尚波，何革，柳玉炯.一种改进的粒子滤波目标跟踪算法[J].计算机应用研究，2010,27(7):2757-2759.ZHOU S B,HE G,LIU Y J.An improved particle filter target tracking algorithm[J].Application Research of Computers,2010,27(7):2757-2759.(in Chinese)
• [39] 王华剑，景占荣，羊彦.基于改进扩展卡尔曼粒子滤波的目标跟踪算法[J].计算机应用研究，2011,28(5):1634-1636.WANG H J,JING Z R,YANG Y.Target tracking algorithm based on improved extended Kalman particle filter[J].Application Research of Computers,2011,28(5):1634-1636.(in Chinese)
• [40] ZADEH L A.Fuzzy set[J].Information Control,1965,8:338-353.
• [41] 唐成龙，王石刚，徐威.基于数据加权策略的模糊聚类改进算法[J].电子与信息学报，2010,32(6):1277-1283.TANG C L,WANG S G,XU W.Improved fuzzy clustering algorithm based on data weighting strategy[J].Journal of Electronics and Information Technology,2010,32(6):1277-1283.(in Chinese)
• [42] 康旭超，何广军，陈峰，等.密集杂波下的模糊数据关联多目标跟踪算法[J].探测与控制学报，2019,41(4):56-61.KANG X C,HE G J,CHEN F,et al.Fuzzy data association multi-target tracking algorithm under dense clutter[J].Journal of Detection and Control,2019,41(4):56-61.(in Chinese)
• [43] WANG J H,ZENG X S,AN W.Convolutional neural network-based simple online multiple object tracking[C]//Proceedings of the IEEE International Conference on Computer and Communications.Chengdu:IEEE,2018:2091-2094.