Target Tracking and Fusion using Imaging Sensor and Ground based Radar Data

Naidu, VPS and Girija, G and Raol, JR (2005) Target Tracking and Fusion using Imaging Sensor and Ground based Radar Data. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, 15-18 August 2005, San Francisco, California.

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An image centroid tracking algorithm (ICTA) has been implemented in PC MATLAB for target tracking based on the data obtained from an imaging sensor. The gray level image is converted into binary image using the segmentation technique and reduced into clusters using nearest neighbor criterion. Nearest neighborhood Kalman filter and Probabilistic data association filter are employed for state estimation using centroid measurement of clusters. The simulated results showed that it is possible to achieve tracking accuracies of 0.52 pixels root mean square error in position and 0.2 pixels/frame in velocity. Performance of this algorithm is evaluated using several statistical criteria. ICTA has been extended to multisensor scenario, where the trajectories obtained from the imaging sensor are fused with those from a ground based radar using track-to-track fusion technique.

Item Type: Conference or Workshop Item (Paper)
Subjects: AERONAUTICS > Aircraft Communication & Navigation
Depositing User: Dr VPS Naidu
Date Deposited: 30 Jun 2010 04:31
Last Modified: 30 Jun 2010 04:31

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