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 run mexmeFIRST 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

Other Files

concatenate_Yclutter.m,
delete_sources.m,
demo_mtbot.m,
likelihood_bot.c,
matrixjpl.c,
matrixjpl.h,
mexmeFIRST.m,
mkclutterV.m,
mkmeasure.m,
ndchol.c,
ndellipse.c,
ndmtpf.m,
ndtimes.c,
obs_mvt.m,
part_moment.c,
particle_resampling.c,
poisrnd.c,
pr_PI0t.m,
randomlib.c,
randomlib.h,
sources_mvt.m

[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.