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Multi-scan data association algorithm for multitarget tracking

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2004
Ağırnas, Emre
Data association problem for multitarget tracking is determination of the relationship between targets and the incoming measurements from sensors of the target tracking system. Performance of a multitarget tracking system is strongly related to the chosen method for data association and target tracking algorithm. Incorrect data association effects state estimation of targets. In this thesis, we propose a new multi-scan data association algorithm for multitarget tracking systems. This algorithm was implemented by using MATLAB programming tool. Performances of the new algorithm and JPDA method for multiple targets tracking are compared. During simulations linear models are used and the uncertainties in the sensor and motion models are modeled by Gaussian density. Simulation results are presented. Results show that the new algorithm's performance is better than that of JPDA method. Moreover, a survey over target tracking literature is presented including basics of multitarget tracking systems and existing data association methods.