Adaptive Target Tracking with Interacting Heterogeneous Motion Models

Multiple motion estimators such as an interacting multiple model (IMM) have been utilized to track target objects such as cars and pedestrians with diverse motion patterns. However, the standard IMM has limitations in combining motion models with different state definitions, so it cannot contain a complementary set of models that accurately work for all motion patterns. In this paper, we propose IMM-based adaptive target tracking with heterogeneous velocity representations and linear/curvilinear motion models. It can integrate four motion models with different state definitions and dimensions to be completely complimentary for all types of motions. We experimentally demonstrate the effectiveness of the proposed method with accuracy for various motion patterns using two types of datasets: synthetic datasets and real datasets. Experimental results show that the proposed method achieves the adaptive target tracking for diverse types of motion and also for various objects such as cars, pedestrians, and drones in the real world.