Dynamic occlusion handling in the PHD filter for range-only tracking: Proof of concept

When localizing multiple tag-free targets using ultra-wideband sensors, targets closer to the sensor occlude targets further from the sensor and in turn these targets are not detected. In this paper we first model the occlusion region of each target. Based on this model, targets unresolved in sensor data and occluded by other targets are updated. Experimental results demonstrate that the incorporation of occlusion handling leads to a more complete belief of the scenario and use of fewer sensors for covering the scenario.