Bayesian Nonparametric Learning and Knowledge Transfer for Object Tracking Under Unknown Time-Varying Conditions

We consider the problem of a primary source tracking a moving object under time-varying and unknown noise conditions. We propose two methods that integrate sequential Bayesian filtering with transfer learning to improve tracking performance. Within the transfer learning framework, multiple sources are assumed to perform the same tracking task as the primary source but under different noise conditions. The first method uses Gaussian mixtures to model the measurement distribution, assuming that the measurement noise intensity at the learning sources is fixed and known a priori and the learning and primary sources are simultaneously tracking the same source. The second tracking method uses Dirichlet process mixtures to model noise parameters, assuming that the learning source measurement noise intensity is unknown. As we demonstrate, the use of Bayesian nonparametric learning does not require all sources to track the same object. The learned information can be stored and transferred to the primary source when needed. Using simulations for both high- and low-signal-to-noise ratio conditions, we demonstrate the improved primary tracking performance as the number of learning sources increases.