Cart (Loading....) | Create Account
Close category search window
 

Tracking of Divers using a Probabilistic Data Association Filter with a Bubble Model

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Rodningsby, A. ; Univ. Grad. Center, Norwegian Univ. of Sci. & Technol., Kjeller, Norway ; Bar-Shalom, Y.

Detection and tracking of divers have become an important factor in port protection against underwater intruders. A problem arises from divers with open breathing systems because detections of the air bubbles they produce can mislead the tracking filter and sometimes result in a lost track. In this paper a probabilistic model is developed which reflects the probability that a false measurement originates from the bubbles. The novel contribution of this paper is the integration of this model in the probabilistic data association filter (PDAF) to improve the track continuity. The bubble detections may also cause confusion in the track initiation. To prevent this problem, a clustering method is proposed based on morphological operators which allows tracks to be initialized based on two-point differencing of the cluster centroids from succeeding scans. This morphological clustering method is included in a cell averaging constant false alarm rate (CA-CFAR) detector in such a way that both the point detections and their corresponding clusters can be fed to the tracking filter. These techniques are implemented and applied to real data of two divers, one with an open breathing system and the other with a closed breathing system, operating simultaneously in a coastal area. The real data were recorded from an active 90 kHz narrowband multibeam imaging sonar.

Published in:

Aerospace and Electronic Systems, IEEE Transactions on  (Volume:45 ,  Issue: 3 )

Date of Publication:

July 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.