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Probabilistic Trajectory GOSPA: A Metric for Uncertainty-Aware Multi-Object Tracking Performance Evaluation
Yuxuan Xia, Ángel F. García-Fernández, Johan Karlsson +3
This paper presents a generalization of the trajectory general optimal sub-pattern assignment (GOSPA) metric for evaluating multi-object tracking algorithms that provide trajectory…
Probabilistic GOSPA: A Metric for Performance Evaluation of Multi-Object Filters with Uncertainties
Yuxuan Xia, Ángel F. García-Fernández, Johan Karlsson +3
This paper presents a probabilistic generalization of the Generalized Optimal Sub-Pattern Assignment (GOSPA) metric, termed P-GOSPA. The GOSPA metric has been widely used to evalua…
Target Handover in Distributed Integrated Sensing and Communication
Yu Ge, Ossi Kaltiokallio, Hui Chen +7
The concept of 6G distributed integrated sensing and communications (DISAC) builds upon the functionality of integrated sensing and communications (ISAC) by integrating distributed…
Hybrid PHD-PMB Trajectory Smoothing Using Backward Simulation
Yuxuan Xia, Ángel F. García-Fernández, Lennart Svensson
The probability hypothesis density (PHD) and Poisson multi-Bernoulli (PMB) filters are two popular set-type multi-object filters. Motivated by the fact that the multi-object filter…
Batch SLAM with PMBM Data Association Sampling and Graph-Based Optimization
Yu Ge, Ossi Kaltiokallio, Yuxuan Xia +6
Simultaneous localization and mapping (SLAM) methods need to both solve the data association (DA) problem and the joint estimation of the sensor trajectory and the map, conditioned…
Markov Chain Monte Carlo Multi-Scan Data Association for Sets of Trajectories
Yuxuan Xia, Ángel F. García-Fernández, Lennart Svensson
This paper considers a batch solution to the multi-object tracking problem based on sets of trajectories. Specifically, we present two offline implementations of the trajectory Poi…