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Multitarget-multisensor tracking: Principles and techniques, 1995, by Yaakov Bar-Shalom, Xiao-Rong Li
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This text is the most comprehensive compilation of practical algorithms for the estimation of the states of targets in surveillance systems operating in a multitarget-multisensor environment. This problem is characterized by measurement origin uncertainty, typical for low observables. A listing of the various tracking problems and the appropriate algorithms is given and the assumptions and applicability of each algorithm are clearly indicated. The tools for design of algorithms for the association of measurements and tracking are presented. Explicit consideration is given for measurements obtained from different sensors under realistic assumptions --- lack of synchronicity and different detection and accuracy characteristics. Several real-data examples are given to illustrate the techniques discussed. The modeling accounts for target maneuvers, detection probability, false alarms, interference from other targets and the finite resolution capability of sensors. The problems of track initiation, track maintenance and track-to-track association and fusion in a multisensor situation are considered. The optimization of certain signal processing parameters based on tracking performance is also discussed. Many of these techniques have applications to state estimation when using multiple sensors in control systems, autonomous vehicle navigation and robotics. This text is written in textgraph TM format --- a self-contained concise text also suitable for use as viewgraphs. An extensive index is provided with all the indexed terms highlighted in the text for the convenience of the reader.
- Sales Rank: #4089427 in Books
- Published on: 1995
- Ingredients: Example Ingredients
- Original language: English
- Binding: Paperback
- 615 pages
Review
Professor Bar-Shalom is one of the world's experts in this field... A major attraction of this book is the realistic examples, using sensors including radar, sonar, passive infrared... It is clearly written, buzzword-free and a pleasure to read... (with) humorous and insightful nuggets sprinkled throughout the text... (This) book helps balance the literature by deriving practical algorithms using mathematics that is relevant and readily accessible to engineers... -- Fred Daum, Raytheon Corp.
Most helpful customer reviews
10 of 10 people found the following review helpful.
The skinny on the Bar-Shalom and Li's book
By Eric Derbez
This comprehensive book begins by covering the different types of filters in use, and then starts covering the issues related to adjusting the parameters involved for certain uses. e.g. the markov coefficients in the Interacting Multiple Model filter with coordinated turns etc. The book then braches off to consider multitarget problems or problems in which targets split, or multisensor problems with heterogeneous sensors etc.
Realistic examples are given, and the printed format of this book is ideal not only for presentations, but also for easy reading. The style is `chatty' with a couple of funny quipps thrown in, but very to the point and un-pretentious. As is pointed out in the preample, the authors go to great lengths to use the minimum amount of math necessary for derivations etc. without sacrificing understanding. However, there aren't too many derivations, although happily, there is still a fair bit of math involved eg. in estimating the number of false alarms in an environment involving clutter etc. Basically this book addresses almost all the known methods/techniques in the field and presents them in a very clear and concise manner. Great value for money (and this is coming from someone who bought this while being paid a salary in Canadian $$).
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