결합확률 데이타 연관 필터에서의 표적 초기화

Track initiation for joint probabilistic data association filter

Joint probabilistic data association filter(JPDAF) for multi-target tracking was developed for real-time implementation, while it abandoned an algorithm for track initiation. In this paper, we propose three features for track initiation that can be adapted to the JPDA filter. In addition, with the proposed approaches, the performance of track maintenance is evaluated in the case of tracks being near. To eliminate the abundant false tracks, we exploit the simple method using the state error covariances. Simulations are performed to demonstrate the efficiency of the proposed approaches.