High-order time lacunarity feature-aided multiple hypotheses tracking for underwater active small targets in high-clutter harbor environment

Abstract

Active tracking of underwater small targets is a great challenge with kinematic information alone. This is because the active sonar often encounters multipath propagation and the induced clutter can even mask target echoes. Recently, high-order time lacunarity (HOT-Lac) has shown its ability in effectively highlighting “blob” targets from high clutter harbor environments. Hence, this paper proposes a HOT-Lac aided track scoring mechanism to solve the ambiguity of data association within the framework of Multiple Hypotheses Tracking (MHT). Specifically, the trajectory consistency of potential targets is captured by a momentum accumulation of the HOT Lac feature, which can inherit the historical information for the whole track. Meanwhile, due to the separability of the distribution of target and clutter in the HOT-Lac feature space, the probabilities of the target hypothesis and null hypothesis are modeled by the online computation of the HOT-Lac feature. Finally, the cumulative likelihood ratio based on HOT-Lac is integrated into MHT to score the potential tracks. Experiments in several real-world harbor scenarios demonstrate that the proposed HOT-Lac feature-aided tracker can suppress false tracks accurately and quickly.