The PDF of nearest neighbor measurement and a probabilistic nearest neighbor filter for tracking in clutter

Author

Li, X. Rong

Author_Institution

Dept. of Electr. Eng., Hartford Univ., West Hartford, CT, USA

fYear

1993

fDate

15-17 Dec 1993

Firstpage

918

Abstract

The measurement that is “closest” to the predicted target position measurement is known as the “nearest neighbor” measurement in target tracking. The probability density function (PDF) of the nearest neighbor measurement is derived in this paper. This PDF is important in the performance analysis and the design of the filters as well as the development of new tracking filters. However, it was calculated incorrectly in all publications known to the author. Based on the PDF obtained, a new probabilistic nearest neighbor filter for tracking in clutter which accounts for the probability that the nearest neighbor is not originated from the target of interest is presented

Keywords

clutter; filtering and prediction theory; probability; tracking; clutter; nearest neighbor measurement; performance analysis; probabilistic nearest neighbor filter; target tracking; tracking filters; Electric variables measurement; Filters; Motion measurement; Nearest neighbor searches; Neural networks; Object detection; Position measurement; State estimation; Target tracking; Time measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on

Conference_Location

San Antonio, TX

Print_ISBN

0-7803-1298-8

Type

conf

DOI

10.1109/CDC.1993.325011

Filename

325011