Title :
Integrated probabilistic data association (IPDA)
Author :
Musicki, D. ; Evans, R. ; Stankovic, S.
Author_Institution :
Dept. of Electr. & Electron. Eng., Melbourne Univ., Parkville, Vic., Australia
Abstract :
A version of the probabilistic data association (PDA) algorithm that is called integrated probabilistic data association (IPDA) is presented. Rather than deriving algorithms based on an assumption of track existence, IPDA starts from expressions which treat track existence as an event with an associated probability. This approach leads to a set of recursive formulae for both data association and probability of track existence or track quality. This is useful in the track initiation phase (to confirm a tentative track) and in track termination (to terminate a false track). The IPDA algorithm is compared with both the probabilistic data association algorithm (PDA) and the interactive multiple model (IMM) PDA algorithm
Keywords :
inference mechanisms; tracking; IPDA; associated probability; data association; integrated probabilistic data association; probabilistic data association; recursive formulae; track existence; Covariance matrix; Data engineering; Density measurement; Equations; Error correction; Position measurement; State estimation; Target tracking; Time measurement; Trajectory;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.370951
