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Particle Filter Tracking for the Banana and Contact Lens Problems

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In this paper we present an approach for tracking with a high-bandwidth radar in long range scenarios. We consider both 2-D and 3-D measurements, in polar and r-u-v, respectively. We show that in these scenarios the extended Kalman filter is not desirable as it suffers from major consistency problems; and most flavors of particle filter suffer from a loss of diversity among particles after resampling. This leads to sample impoverishment and the divergence of the filter. In the scenarios studied, this loss of diversity can be attributed to the very low process noise. However, a regularized particle filter is shown to avoid this diversity problem while producing consistent results. The regularization is accomplished using a generalized version of the Epanechnikov kernel.

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Kevin Romeo

Field of Interest

“The field of interest shall be the organization, systems engineering, design, development, integration, and operation of complex systems for space, air, ocean, or ground environments. These systems include but are not limited to navigation, avionics, mobile electric power and electronics, radar, sonar, telemetry, military, law-enforcement, automatic test, simulators, and command and control."

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