Transforming local sensor tracks prior to track-to-track fusion in an automotive safety system

This paper addresses a practical issue that arises when the output from two local trackers, using two different state-space models, are to be fused with each other in a global track-to-track fusion system. Such fusion algorithms require the local tracks to be represented in a joint state-space, meaning that at least one of these tracks needs to be transformed prior to the track fusion.