Search

The random matrix (RM) model is a typical extended object-modeling method that has been widely used in extended object tracking. However, existing RM-based filters usually assume that the measurements follow a Gaussian distribution, which may lead to a decrease in accuracy when the filter is applied to the lidar system. In this paper, a new observation model used to modify an RM smoother by considering the characteristics of 2D LiDAR data is proposed. Simulation results show that the proposed method achieves a better performance than the original RM tracker in a 2D lidar system.

In this paper, we propose a novel method for semi-supervised learning by combining graph embedding and sparse regression, termed as graph embedding and sparse regression with structure low rank representation (GESR-LR), in which the embedding learning and the sparse regression are performed in a combined approach. Most of the graph based semi-supervised learning methods take into account the local neighborhood information while ignoring the global structure of the data. The proposed GESR-LR method learns a low-rank weight matrix by projecting the data onto a low-dimensional subspace. The GESR-LR makes full use of the supervised learning information in the construction of the affinity matrix, and the affinity construction is combined with graph embedding in a single step to guarantee the global optimal solution. In the dimensionality reduction procedure, the proposed GESR-LR can preserve the global structure of the data, and the learned low-rank weight matrix can effectively reduce the influence of the noise. An effective novel algorithm to solve the corresponding optimization problem was designed and is presented in this paper. Extensive experimental results demonstrate that the GESR-LR method can obtain a higher classification accuracy than other state-of-the-art methods.