Title :
Direct data fusion using the PMHT
Author :
Rago, Constantino ; Willett, Rago Peter ; Streit, Roy
Author_Institution :
Connecticut Univ., Storrs, CT, USA
Abstract :
We analyze the tracking characteristics of a new data-association/tracking algorithm proposed by Streit-Luginbuhl, the probabilistic multi-hypothesis tracking (PMHT) algorithm, in a multisensor environment. Given that in the formulation of the algorithm there is no constraint on the number of measurements originated per target, it is a natural candidate for direct fusion in the multi-sensor case, where a combined frame (assuming synchronicity among the sensors) may have more than one target-originated measurement. In this paper we compare the performance of this new algorithm to that of a commonly used multisensor tracking algorithm: the joint probabilistic data association filter with a centralized estimation-to-estimation fusion
Keywords :
filtering theory; probability; sensor fusion; target tracking; tracking; centralized estimation-to-estimation fusion; direct data fusion; joint probabilistic data association filter; multisensor environment; multisensor tracking; probabilistic multi-hypothesis tracking; synchronicity; target-originated measurement; Algorithm design and analysis; Constraint optimization; Filters; Maximum a posteriori estimation; Maximum likelihood estimation; Optimization methods; Sensor fusion; Sensor phenomena and characterization; Target tracking; Time measurement;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529798
