Multitarget Bearing Only Tracking by Particle Filter

A demo illustrating Multitarget BO tracking by particle filter

Description

A fast implementation of particle filter dedicaced to multitarget tracking with bearing only measurements. For the multitarget data association problem, a gibbsampler is used to estimate target association probabilities.

Ref : "Sequential Monte-Carlo methods for multple target tracking and data fusion" , Carine. Hue, Jean-Pierre Le Cadre and Patrick Perez, IEEE Transactions on Signal Processing , Vol 50, no 2, 2002

Please mexme_mtbot to compile mex-files on your own plateform.

Run demo_mtbot.m for the demo

• MATLAB release: MATLAB 7.5 (R2007b)
• Other requirements: A C compiler

[Khamron Sunat]

The correct reference is
Tracking multiple objects with particle filtering
Hue, C.; Le Cadre, J.-P.; Perez, P.;
Aerospace and Electronic Systems, IEEE Transactions on
Volume 38, Issue 3, July 2002 Page(s):791 - 812, isn't it?

[Cong Zhou]

when I run mexmeFIRST , I find this error :
Writing library for particle_resampling.mexw32
c:\users\zhouco~1\appdata\local\temp\mex_220a4168-6f9f-4976-a6ad-9a8555f6430a\particle_resampling.obj .text: undefined reference to '_max'
 
  C:\PROGRA~1\MATLAB\R2007A\BIN\MEX.PL: Error: Link of 'particle_resampling.mexw32' failed.

why this happens?
 

[Sebastien Paris]

Please uncomment #define max ..... line in the top of the particle_resampling.c file

[Cong Zhou]

I also add :"#define max(a,b) ( (a) >= (b) ? (a) : (b) ) " to part_moment.c
now it works~~3q~

[Tao Gao]

There is something wrong with poisrnd.c:
error LNK2001: unresolved external symbol _ignpoi

what is "ignpoi" mean? How to define it?

[Sebastien Paris]

Did you run "mexme_first" before ?

Which compiler do you use ?

what's wrong with :

mex poisrnd.c matrixjpl.c randomlib.c

?

[Tao Gao]

Thank you very much! The problem has been solved.

[Anny Litvina]

Hello! I've got a question: how can I test your program on the concreet video-file. I want to see by my eyes whow it's work with video

[Sebastien Paris]

Anny,

Sorry I don't understand your request ?. There is no video input for this demo.

[chen]

hello, when i run demo_mtdot.m , it is display "??? Undefined command/function 'ndchol'.", i use matlab 7.0 for linux and C++ compiler is gcc-4.2 how can i to solve the problem??? Thanks

[Sebastien Paris]

Ok, I just update with a new mex compilation function. It should work now on Linux system.

[Anna]

I don't understand what are the initial condition and initial data

[Tiancheng li]

Coool, Sebastien Paris always do the zmazing job

[wang]

hi,

i have run your fil called ''demo_mtbot.m'''
and here is the problem:

Undefined command/function 'obs_mvt'.'

how can i fix it ?

thx !

[Sebastien Paris]

wang: this function is included in the zip files. Please unzip archive correctly and it should work.

[wang]

yes, i found this funcion. and i copie all of the files into my Matlab Work file. and what i should do next ?
run the file 'obs_mvt'. ?

[lan]

when i run demo_mtdot.m , it is display "??? Undefined command/function 'ndchol'."also, i use matlab 7.11.0 for win7 system. how can i solve this problem?

[Sebastien Paris]

Ian : please comple mex-files first by running mexme_mbot (be sure to setup your compiler by : mex -setup)