Abstract:One of the major problems in multiple target tracking is to obtain an accurate association between targets and noisy measurements. We introduce a new scheme, called Constrained Optimal Data Association (CODA), that finds the optimal data association by a MAP estimation method and uses a new energy function. In this scheme, the natural constraints between targets and measurements are defined so that they may contain missed detection and false alarm errors. Most current algorithms involve many heuristic adjustme… Show more
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