Electro-optic sensor fusion tracker via a set-theoretic approach

This paper presents a novel, easily implementable set-theoretic solution to a multiple sensor data fusion and tracking problem. A centralized fusion architecture which performs data fusion at the measurement level is described. The algorithm combines 2D image data from two sensors to produce 3D tracks at each scan in the presence of false alarms. Track initiation and maintenance are performed as an integral part of the tracking process