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Description: GM_PHD_Filter
Version 1.09, 13th December 2013
Matlab code by Bryan Clarke b.clarke@acfr.usyd.edu.au with:
- some Kalman filter update code by Tim Bailey, taken from his website http://www-personal.acfr.usyd.edu.au/tbailey/software/
- error_ellipse by AJ Johnson, taken from Matlab Central http://www.mathworks.com.au/matlabcentral/fileexchange/4705-errorellipse
Algorithm by Ba-Ngu Vo & Wing-Kin Ma in:
B.-N. Vo, W.-K. Ma, "The Gaussian Mixture Probability Hypothesis Density Filter", IEEE Transactions on Signal Processing, Vol 54, No. 11, November 2006, pp4091-4104
This is an implementation of a gaussian mixture probability hypothesis density filter (GM-PHD) for a simulated tracking problem. The problem specification is given in the above paper- in summary, two targets move through the environment, there is a lot of clutter on the measurement, and about halfway through a third target spawns off one of the two targets.
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File list (Check if you may need any files):
GM_PHD_Filter_v110\Older_Version_GM_PHD_Filter_Without_EKF\GM_PHD_Filter_v105b\error_ellipse.m
..................\.......................................\...................\GM_PHD_Initialisation.m
..................\.......................................\...................\GM_PHD_Simulate_Initialise.m
..................\.......................................\...................\GM_PHD_Simulate_Measurements.m
..................\.......................................\...................\Hungarian.m
..................\.......................................\...................\ConvertPlusMinusPi.m
..................\.......................................\...................\GM_PHD_Predict_Birth.m
..................\.......................................\...................\README.txt.txt
..................\.......................................\...................\GM_PHD_Construct_Update_Components.m
..................\.......................................\...................\ospa_dist.m
..................\.......................................\...................\GM_PHD_Filter.m
..................\.......................................\...................\GM_PHD_Estimate.m
..................\.......................................\...................\unifpdf_2d.m
..................\.......................................\...................\GM_PHD_Simulate_Plot.m
..................\.......................................\...................\GM_PHD_Calculate_Performance_Metric.m
..................\.......................................\...................\ReleaseNotes.txt
..................\.......................................\...................\GM_PHD_Update.m
..................\.......................................\...................\GM_PHD_Create_Birth.m
..................\.......................................\...................\GM_PHD_Prune.m
..................\.......................................\...................\GM_PHD_Predict_Existing.m
..................\GM_PHD_Filter\CalculateOSPAMetric.m
..................\.............\Test_Jacobian_Calculation.m
..................\.............\error_ellipse.m
..................\.............\GM_PHD_Initialisation.m
..................\.............\GM_EKF_PHD_Simulate_Measurements.m
..................\.............\README.txt
..................\.............\GM_PHD_Simulate_Initialise.m
..................\.............\GM_PHD_Simulate_Measurements.m
..................\.............\Calculate_Jacobian_H.m
..................\.............\Hungarian.m
..................\.............\ConvertPlusMinusPi.m
..................\.............\GM_PHD_Predict_Birth.m
..................\.............\GM_PHD_Construct_Update_Components.m
..................\.............\GM_EKF_PHD_Update.m
..................\.............\ospa_dist.m
..................\.............\GM_EKF_PHD_Simulate_Plot.m
..................\.............\GM_EKF_PHD_Simulate_Initialise.m
..................\.............\GM_PHD_Filter.m
..................\.............\GM_PHD_Estimate.m
..................\.............\GM_EKF_PHD_Predict_Birth.m
..................\.............\unifpdf_2d.m
..................\.............\GM_PHD_Simulate_Plot.m
..................\.............\GM_PHD_Calculate_Performance_Metric.m
..................\.............\GM_EKF_PHD_Construct_Update_Components.m
..................\.............\GM_EKF_PHD_Initialise_Jacobians.m
..................\.............\GM_EKF_PHD_Predict_Existing.m
..................\.............\ReleaseNotes.txt
..................\.............\GM_PHD_Update.m
..................\.............\GM_PHD_Create_Birth.m
..................\.............\GM_PHD_Prune.m
..................\.............\GM_EKF_PHD_Create_Birth.m
..................\.............\GM_PHD_Predict_Existing.m
license.txt
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