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Multitarget Bearing Only Tracking by Particle Filter

version 1.4.0.0 (107 KB) by Sebastien PARIS
A demo illustrating Multitarget BO tracking by particle filter

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Updated 28 Jan 2020

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A fast implementation of particle filter dedicaced to multitarget tracking with bearing only measurements. For the multitarget data association problem, a gibbsampler is used to estimate target association probabilities.

Ref : "Sequential Monte-Carlo methods for multple target tracking and data fusion" , Carine. Hue, Jean-Pierre Le Cadre and Patrick Perez, IEEE Transactions on Signal Processing , Vol 50, no 2, 2002

Please mexme_mtbot to compile mex-files on your own plateform.

Run demo_mtbot.m for the demo

Cite As

Sebastien PARIS (2021). Multitarget Bearing Only Tracking by Particle Filter (https://www.mathworks.com/matlabcentral/fileexchange/22244-multitarget-bearing-only-tracking-by-particle-filter), MATLAB Central File Exchange. Retrieved .

Comments and Ratings (25)

jiaming liu

Laleh

Hi
Sorry, I ran the file demo_mtbot but got an error Undefined function or variable 'ndchol'. How can I get this function?
Thank you,
Laleh

Quang Lam

Dear Sebastien,
I did not read other users' feedback and your answers. It is running now after following your answers.
Thank you,
Quang
P.S Please ignore my early request!
>> run('C:\demo_mtbot\demo_mtbot.m')
Undefined function or variable 'ndchol'.

Error in obs_mvt (line 78)
Xobs(: , : , t) = Fobs(dt(t - 1))*Xobs(: , : , t - 1) + Uobs(: , : , t - 1) + ndchol( Gobs( dt(t - 1)
).*Qobs ).'*Wobs(: , : , t - 1);

Error in demo_mtbot (line 129)
Xobs = obs_mvt(Xobs_ini , Fobs , Gobs , Qobs , dt , Vobs); %(nx x 1 x T)

Error in run (line 96)
evalin('caller', [script ';']);

D.V.A.N.Ravi Kumar

thank you sir,the code is very helpful.can i generate all the graphs present in the paper

"Sequential Monte-Carlo methods for multple target tracking and data fusion" , Carine. Hue, Jean-Pierre Le Cadre and Patrick Perez, IEEE Transactions on Signal Processing , Vol 50, no 2, 2002

using the same code?

Farther

Make it!
3QU for sharing.

Ezra

Oh, I am sorry. I did not notice this was a single project related. I found this forum because I googled my problem, but now I see it has nothing to do with my project. I want to erase my post, but I cant find the delete button.

Ezra

I experience the same problem as the Cong Zhou. When I try to run:

mex -output freetrack "src/mex_dll_core.c" "src/freetrack_mex_interface.c"

It gives the following error:

Writing library for freetrack.mexw32
c:\docume~1\599013\locals~1\temp\mex_pn~1\mex_dll_core.obj .text: undefined reference to '_max'

I don't really know where to look for a solution for this problem...

Sebastien PARIS

Ian : please comple mex-files first by running mexme_mbot (be sure to setup your compiler by : mex -setup)

lan

when i run demo_mtdot.m , it is display "??? Undefined command/function 'ndchol'."also, i use matlab 7.11.0 for win7 system. how can i solve this problem?

wang

yes, i found this funcion. and i copie all of the files into my Matlab Work file. and what i should do next ?
run the file 'obs_mvt'. ?

Sebastien PARIS

wang: this function is included in the zip files. Please unzip archive correctly and it should work.

wang

hi,

i have run your fil called ''demo_mtbot.m'''
and here is the problem:

Undefined command/function 'obs_mvt'.'

how can i fix it ?

thx !

Tiancheng Li

Coool, Sebastien Paris always do the zmazing job

Anna

I don't understand what are the initial condition and initial data

Sebastien PARIS

Ok, I just update with a new mex compilation function. It should work now on Linux system.

chen

hello, when i run demo_mtdot.m , it is display "??? Undefined command/function 'ndchol'.", i use matlab 7.0 for linux and C++ compiler is gcc-4.2 how can i to solve the problem??? Thanks

Sebastien PARIS

Anny,

Sorry I don't understand your request ?. There is no video input for this demo.

Anny Litvina

Hello! I've got a question: how can I test your program on the concreet video-file. I want to see by my eyes whow it's work with video

Tao Gao

Thank you very much! The problem has been solved.

Sebastien PARIS

Did you run "mexme_first" before ?

Which compiler do you use ?

what's wrong with :

mex poisrnd.c matrixjpl.c randomlib.c

?

Tao Gao

There is something wrong with poisrnd.c:
error LNK2001: unresolved external symbol _ignpoi

what is "ignpoi" mean? How to define it?

Cong Zhou

I also add :"#define max(a,b) ( (a) >= (b) ? (a) : (b) ) " to part_moment.c
now it works~~3q~

Sebastien PARIS

Please uncomment #define max ..... line in the top of the particle_resampling.c file

Cong Zhou

when I run mexmeFIRST , I find this error :
Writing library for particle_resampling.mexw32
c:\users\zhouco~1\appdata\local\temp\mex_220a4168-6f9f-4976-a6ad-9a8555f6430a\particle_resampling.obj .text: undefined reference to '_max'

C:\PROGRA~1\MATLAB\R2007A\BIN\MEX.PL: Error: Link of 'particle_resampling.mexw32' failed.

why this happens?

Khamron Sunat

The correct reference is
Tracking multiple objects with particle filtering
Hue, C.; Le Cadre, J.-P.; Perez, P.;
Aerospace and Electronic Systems, IEEE Transactions on
Volume 38, Issue 3, July 2002 Page(s):791 - 812, isn't it?

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