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Niknejad, H., Takeuchi, A., Mita, S. and McAllester, D. (2012) On-Road Multivehicle Tracking Using Deformable Object Model and Particle Filter with Improved Likelihood Estimation. IEEE Transactions on Intelligent Transportation Systems, 13, 748-758. http://dx.doi.org/10.1109/TITS.2012.2187894

has been cited by the following article:

• TITLE: Fundamental Properties and Optimal Gains of a Steady-State Velocity Measured α-β Tracking Filter

  AUTHORS: Kenshi Saho

  KEYWORDS: α-β Filter, Moving Target Tracking, Velocity Measurement, Kalman Filter, Optimal Gain

  JOURNAL NAME: Advances in Remote Sensing, Vol.3 No.2, June 11, 2014

  ABSTRACT: This paper clarifies the steady-state properties and performance of an α-β filter for moving target tracking using both position and velocity measurements. We call this filter velocity measured α-β (VM-α-β) filter. We first derive the stability condition and steady-state predicted errors as fundamental properties of the VM-α-β filter. The optimal gains for representative motion models are then derived from the Kalman filter equations. Theoretical and numerical analyses verify that VM-α-β filters with these optimal gains realize more accurate tracking than conventional α-β filters when the filter gains are relatively large. Our study reveals the conditions under which the predicted errors of the VM-α-β filters are less than those of conventional α-β filters. Moreover, numerical simulations clarify that the variance of the tracking error of the VM-α-β filters is approximately 3/4 of that of the conventional α-β filters in realistic situations, even when the accuracy of the position/velocity measurements is the same.