Labelled Non-zero Particle Flow for SMC-PHD Filtering

The sequential Monte Carlo probability hypothesis density (SMC-PHD) filter assisted by particle flows (PF) has been shown to be promising for audio-visual multi-speaker tracking. A clustering step is often employed for calculating the particle flow, which leads to a substantial increase in the computational cost. To address this issue, we propose an alternative method based on the labelled non-zero particle flow (LNPF) to adjust the particle states. Results obtained from the AV16.3 dataset show improved performance by the proposed method in terms of computational efficiency and tracking accuracy as compared with baseline AV-NPF-SMC-PHD methods.