scholarly journals A Novel Probabilistic Data Association for Target Tracking in a Cluttered Environment

Sensors ◽  
2016 ◽  
Vol 16 (12) ◽  
pp. 2180 ◽  
Author(s):  
Xiao Chen ◽  
Yaan Li ◽  
Yuxing Li ◽  
Jing Yu ◽  
Xiaohua Li
Keyword(s):  
Target Tracking ◽  
Data Association ◽  
Probabilistic Data ◽  
Probabilistic Data Association ◽  
Cluttered Environment

Linear Multi-Target Integrated Probabilistic Data Association Filter With Automatic Track Management for Autonomous Vehicles

2018 ◽  
Author(s):  
Andinet Hunde ◽  
Beshah Ayalew
Keyword(s):  
Target Tracking ◽  
Tracking System ◽  
Data Association ◽  
Tracking Algorithm ◽  
Probabilistic Data ◽  
Probabilistic Data Association ◽  
Address Data ◽  
Multi Target Tracking ◽  
Track Management ◽  
Track Initiation

Target tracking in public traffic calls for a tracking system with automated track initiation and termination facilities in a randomly evolving driving environment. In addition, the key problem of data association needs to be handled effectively considering the limitations in the computational resources onboard an autonomous car. In this paper, we discuss a multi-target tracking system that addresses target birth/initiation and death/termination processes with automatic track management feature. The tracking system is based on Linear Multi-target Integrated Probabilistic Data Association Filter (LMIPDAF), which is adapted to specifically include algorithms that handle track initiation and termination, clutter density estimation and track management. The performance of the proposed tracking algorithm is compared to other single and multi-target tracking schemes and is shown to have acceptable tracking error. It is further illustrated through multiple traffic simulations that the computational requirement of the tracking algorithm is less than that of optimal multi-target tracking algorithms that explicitly address data association uncertainties.

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