# Distributed Multi-object Tracking under Limited Field of View Sensors

arXiv: https://arxiv.org/abs/2012.12990 · HTML: https://mlsanity.com/paper/2012.12990/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Dec 2020.

## Built on by (most cited first, 1 of 1)

- [A comparison between PMBM Bayesian track initiation and labelled RFS adaptive birth](https://mlsanity.com/paper/2207.06156/) (2022)

## Abstract (arXiv)

We consider the challenging problem of tracking multiple objects using a distributed network of sensors. In the practical setting of nodes with limited field of views (FoVs), computing power and communication resources, we develop a novel distributed multi-object tracking algorithm. To accomplish this, we first formalise the concept of label consistency, determine a sufficient condition to achieve it and develop a novel textitlabel consensus approach that reduces label inconsistency caused by objects' movements from one node's limited FoV to another. Second, we develop a distributed multi-object fusion algorithm that fuses local multi-object state estimates instead of local multi-object densities. This algorithm: i) requires significantly less processing time than multi-object density fusion methods; ii) achieves better tracking accuracy by considering Optimal Sub-Pattern Assignment (OSPA) tracking errors over several scans rather than a single scan; iii) is agnostic to local multi-object tracking techniques, and only requires each node to provide a set of estimated tracks. Thus, it is not necessary to assume that the nodes maintain multi-object densities, and hence the fusion outcomes do not modify local multi-object densities. Numerical experiments demonstrate our proposed solution's real-time computational efficiency and accuracy compared to state-of-the-art solutions in challenging scenarios. We also release source code at https://github.com/AdelaideAuto-IDLab/Distributed-limitedFoV-MOT for our fusion method to foster developments in DMOT algorithms.