Target Tracking with Kalman Filtering, KNN and LSTMs.pdf

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文件名称：Target Tracking with Kalman Filtering, KNN and LSTMs.pdf
文件大小：449KB
文件格式：PDF
更新时间：2023-01-01 09:22:39
Target Tracking Kalman KNN LSTM Tracking an unknown number of targets given noisy measurements from multiple sensors is critical to autonomous driving. Rao- Blackwellized particle ltering is well suited to this problem. Monte Carlo sampling is used to determine whether measurements are valid, and if so, which targets they originate from. This breaks the problem into single target tracking sub-problems that are solved in closed form (e.g. with Kalman ltering). We compare the performance of a traditional Kalman lter with that of a recurrent neural network for single target tracking. We show that LSTMs outperform Kalman ltering for single target prediction by 2x. We also present a unique model for training two dependent LSTMs to output a Gaussian distribution for a single target prediction to be used as input to multi-target tracking. We evaluate the end to end performance of an LSTM and a Kalman lter for simultaneous multiple target tracking. In the end to end pipeline, LSTMs do not provide a signicant improvement.