다중표적 추적을 위한 표적 탐지 임계값에 대한 연구

A study on the detection threshold for multitarget tracking

Tracking performance depends on the quantity of the measurement data. In the Kalman-Bucy filter and other trackers, this dependence is well understood in terms of the measurement noise covariance matrix, which specifies the uncertainty in the value of measurement inputs. In this paper, we derived approximated error covariance matrix to evaluate the dependence of target detection probability and false alarm probability in the presence of uncertainty of measurement origin.