A study of optimal data association for multitarget tracking of radar

This paper introduced a scheme for finding an optimal association matrix that represents the relationships between the measurements and tracks in multitarget tracking of a radar system. We considered the relationships between targets and measurements such as MRF and assumed a priori of the associations as a Gibbs distribution. Based on these assumptions, it was possible to reduce the MAP estimate of the association matrix to the energy minimization problem. Then, we defined an energy function over the measurement space, that may incorporate most of the important natural constraints