Abstract: In this presentation, we explore the performance of the distance-weighting probabilistic data association (DWPDA) approach in conjunction with the loopy sum-product algorithm (LSPA) for tracking multiple objects in clutter. First, we discuss the problem of data association (DA), which is to infer the correspondence between targets and measurements. DA plays an important role when tracking multiple targets using measurements of uncertain origin. Second, we describe three methods of data association: probabilistic data association (PDA), joint probabilistic data association (JPDA), and LSPA. We then apply these three DA methods for tracking multiple crossing targets in cluttered environments, e.g., radar detection with false alarms and missed detections. We are interested in two performance metrics: tracking accuracy and computation time. LSPA is known to be superior to PDA in terms of the former and to dominate JPDA in terms of the latter. Last, we consider an additional DA method that is a modification of PDA by incorporating a weighting scheme based on distances between position estimates and measurements. This distance-weighting approach, when combined with PDA, has been shown to enhance the tracking accuracy of PDA without significant change in the computation burden. Since PDA constitutes a crucial building block of LSPA, we hypothesize that DWPDA, when integrated with LSPA, would perform better under the two performance metrics above. Contrary to expectations, the distance-weighting approach does not enhance the performance of LSPA, whether in terms of tracking accuracy or computation time.

Adviser: Edwin Chong
Co-Adviser: N/A
Non-ECE Member: Ronald Tjalkens, ERHS
Member 3: Ali Pezeshki, ECE
Addional Members: Renzo Cavalieri, MATH

Publications:
[1] Hammond, Sean L., Katriana A. Popichak, Xi Li, Lindsay G. Hunt, Evan H. Richman, Pranav U. Damale, Edwin KP Chong, Donald S. Backos, Stephen Safe, and Ronald B. Tjalkens. "The Nurr1 ligand, 1, 1-bis (3′-indolyl)-1-(p-chlorophenyl) methane, modulates glial reactivity and is neuroprotective in MPTP-induced parkinsonism." Journal of Pharmacology and Experimental Therapeutics 365, no. 3 (2018): 636-651.

[2] Hammond, Sean L., Collin M. Bantle, Katriana A. Popichak, Katie A. Wright, Delaney Thompson, Catalina Forero, Kelly S. Kirkley, Pranav U. Damale, Edwin KP Chong, and Ronald B. Tjalkens. "NF-κB signaling in astrocytes modulates brain inflammation and neuronal injury following sequential exposure to manganese and MPTP during development and aging." Toxicological Sciences 177, no. 2 (2020): 506-520.

[3] Damale, Pranav U., Edwin KP Chong, and Tian J. Ma. "Performance study of distance-weighting approach with loopy sum-product algorithm for multi-object tracking in clutter." Sensors 21, no. 7 (2021): 2544.

[4] Damale, Pranav U., Edwin KP Chong, Sean L. Hammond, and Ronald B. Tjalkens. "A Low-Cost, Autonomous Gait Detection and Estimation System for Analyzing Gait Impairments in Mice." Journal of Healthcare Engineering 2021 (2021).

Program of Study:
GSTR 600
ECE 652
ECE 752
MATH 501
PH 517
STAT 620
ECE 795
ECE 799