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Set JPDA algorithm for tracking unordered sets of targets

Lennart Svensson (Institutionen för signaler och system, Signalbehandling) ; Daniel Svensson (Institutionen för signaler och system, Signalbehandling) ; Peter Willett
Proceedings of the 12th International Conference on Information Fusion p. 1187-1194. (2009)
[Konferensbidrag, refereegranskat]

In this article we show that traditional tracking algorithms should be adjusted when the objective is to recursively estimate an unordered (unlabeled) set of target state vectors, i.e., when it is not of importance to try to preserve target identities over time. We study scenarios where the number of targets is known, and propose a new version of the joint probabilistic data association (JPDA) filter that we call set JPDA (SJPDA). Simulations show that the new filter outperforms the JPDA in a two-target scenario when evaluated according to the mean optimal subpattern assignment (MOSPA) measure.

Nyckelord: JPDA, OSPA, Random finite sets, SJPDA, Tracking, target identity



Denna post skapades 2009-10-22. Senast ändrad 2014-12-09.
CPL Pubid: 100613

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Signalbehandling

Ämnesområden

Signalbehandling
Elektroteknik

Chalmers infrastruktur