Bayesian Recursive Estimation Workspace in MATLAB

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A MATLAB wrapper for target tracking applications using BREW.

This package holds general dynamics models, different distributions, and filters that work together.

NOTE: This code is still in development and is in no way promised to perform to any specific standard.

Getting Started:

To get started, run the function

build_brew_mex()

After the compile is done, the wrapper should work as intended.

Example 1:

Gamma Gaussian Inverse Wishart applied to PHD filter for simulated measurements using the GGIW Mixture model. Output of test_PHD_GGIW.m.

Example 2:

Trajectory Set Theory GM-PHD filter implemented as an alternative to labeled RFS. Output of test_trajectory_gm_phd.m.

You can see the L-scan window in red, and previous target trajectories in the other colors. The L-scan is performed as an efficient implementation of the trajectory set theory filters.

Example 3:

Same test as Example 1, but with the TST-GGIW. Output of test_PHD_TrajectoryGGIW.m.