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Joint Multitarget Tracking and Dynamic Network Localization in the Underwater Domain

: Mendrzik, R.; Brambilla, M.; Allmann, C.; Nicoli, M.; Koch, W.; Bauch, G.; LePage, K.; Braca, P.


Institute of Electrical and Electronics Engineers -IEEE-; IEEE Computer Society; IEEE Signal Processing Society:
IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2020. Proceedings : May 4-8, 2020, Barcelona, Spain
Piscataway, NJ: IEEE, 2020
ISBN: 978-1-5090-6631-5
ISBN: 978-1-5090-6632-2
International Conference on Acoustics, Speech and Signal Processing (ICASSP) <45, 2020, Barcelona>
Conference Paper
Fraunhofer FKIE ()

This paper addresses the problem of multitarget tracking using a network of mobile sensors with unknown positions. In contrast to commonly-used approaches which split the sensor localization and target tracking into two different sub-problems, we propose a holistic approach for joint localization and tracking. The theory of graphical models is used to describe the statistical relationship between sensors, targets, and measurements. To jointly infer the states of sensors and targets, we use the statistical processing of belief propagation.