22 October 1993 Approximate joint probabilistic data association algorithms
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Abstract
The crucial problem in multiple target tracking is the hit-to-track data association. A hit is a received signal from a target or background clutter which provides positional information. If an incorrect hit is associated with a track, that track could diverge and prematurely terminate or cause other tracks to also diverge. Most methods for hit-to-track data association fall into two categories: Multiple Hypothesis Tracking (MHT) and Joint Probabilistic Data Association (JPDA). Versions of MHT use all or some reasonable hits to update a track and delay the decision on which hit was correct. JPDA uses a weighted sum of the reasonable hits to update a track. These weights are the probability that the hit originated from the target in track. The computational load for the joint probabilities increase exponentially as the number of targets increases and therefore, is not an attractive algorithm when expecting to track many targets. This paper reviews the JPDA filter and two simple approximations of the joint probabilities which increase linearly in computational load as the number of targets increase. Then a new class of near optimal JPDA algorithms is introduced which run in polynomial time. The power of the polynomial is an input to the algorithm. This algorithm bridges the gap in computational load and accuracy between the very fast simple approximations and the efficient optimal algorithms.
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James A. Roecker, "Approximate joint probabilistic data association algorithms", Proc. SPIE 1954, Signal and Data Processing of Small Targets 1993, (22 October 1993); doi: 10.1117/12.157774; https://doi.org/10.1117/12.157774
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