Variational Bayes methods for random matrix-based extended target tracking

Tuncer, Barkın
In this thesis, we investigate two major topics; Random matrix-based models using variational Bayes inference for extended target tracking and shape classification algorithms for tracking applications. In the scope of this thesis, we have derived two novel random matrix-based tracking algorithms. First, to represent the extent of dynamic objects as an ellipsoid with a time-varying orientation angle, and secondly, to estimate the extent of the object or a group of objects with more than one ellipsoid. In both of these solutions, we have used the variational Bayes technique to perform approximate inference, where the Kullback-Leibler divergence between the true and the approximate posterior is minimized by performing fixed-point iterations. The update equations are easy to implement, and the algorithms can be used in real-time tracking applications. We illustrated the performance of the methods in simulations and experiments with real data. In extended target tracking, once the shape estimate of an object is formed, it can naturally be utilized by high-level tasks such as classification of the object type. Therefore, we present a naively deep neural network, which consists of one input, two hidden and one output layers, to classify dynamic objects regarding their shape estimates. In this manner, the proposed method shows superior performance in comparison to a Bayesian classifier for simulation experiments.


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In this thesis, two Bayesian smoothers are proposed for random matrix based extended target tracking (ETT). The proposed smoothers are based on the variational Bayes techniques and they are derived for an extended target model without and with orientation. The random matrix models of Feldman et al. and Tuncer and Özkan are used as the extended target models without and with orientation, respectively. The performance of both smoothers is evaluated using simulation results on two different scenarios. It is se...
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Citation Formats
B. Tuncer, “Variational Bayes methods for random matrix-based extended target tracking,” M.S. - Master of Science, Middle East Technical University, 2022.