Method and apparatus for multi-sensor, multi-target tracking using intelligent search techniques
First Claim
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1. A method of tracking at least one object, comprising:
- receiving sensor reports from at least one sensor over a window comprised of multiple time scans;
formulating hypotheses as lists of associations between the sensor reports;
constructing at least one track for each of the hypotheses;
scoring each of the hypotheses;
searching through a portion of the hypotheses, using an intelligent search algorithm, to find a good hypothesis; and
determining, using a computer, a state of the at least one object.
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Abstract
A method and apparatus wherein a Genetic Algorithm or an Evolutionary Program is used as an intelligent search technique addresses the problem of assigning sensor reports in multi-target tracking with one or more sensors. The inventive technique of tracking objects includes receiving sensor reports from at least one sensor over multiple time scans; formulating hypotheses as lists of associations between the sensor reports; constructing at least one track for each of the hypotheses; scoring each of the hypotheses; searching through a portion of the hypotheses, using an intelligent search algorithm, to find a good hypothesis; and determining the state of the tracked objects.
35 Citations
20 Claims
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1. A method of tracking at least one object, comprising:
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receiving sensor reports from at least one sensor over a window comprised of multiple time scans; formulating hypotheses as lists of associations between the sensor reports; constructing at least one track for each of the hypotheses; scoring each of the hypotheses; searching through a portion of the hypotheses, using an intelligent search algorithm, to find a good hypothesis; and determining, using a computer, a state of the at least one object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. An apparatus for tracking at least one object, comprising:
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means for receiving sensor reports from at least one sensor over multiple time scans; means for formulating hypotheses as lists of associations between the sensor reports; means for constructing at least one track for each of the hypotheses; means for scoring each of the hypotheses; means for searching through a portion of the hypotheses, using an intelligent search algorithm, to find a good hypothesis; and computer means for determining a state of the at least one object. - View Dependent Claims (15, 16, 17, 18, 19)
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20. A method of tracking at least one point on an object, comprising:
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receiving sensor reports from at least one sensor over multiple time scans; formulating hypotheses as lists of associations between the sensor reports; constructing at least one track for each of the hypotheses; scoring each of the hypotheses; searching through a portion of the hypotheses, using an intelligent search algorithm, to find a good hypothesis; and determining, using a computer a state of the at least one point.
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Specification