The Impact of the Quality Assessment of Optimal Assignment for Data Association in a Multitarget Tracking Context

Abstract

The main purpose of this paper is to apply and to

A comparative analysis of QADA-KF with JPDAF for multitarget tracking in clutter

“…It is a hard (i.e., binary) decision approach, as compared to the JPDAF which is a soft (i.e., probabilistic) decision approach using all validated measurements with their probabilities of association. GNN method was applied in [6] and [20] …”

“…We see that the RMSE on X filtered associated with KDA KF, QADA-GNN KF, and QADA-PDA KF are a little bit above from the sensor's error in the region where target 1 makes maneuvers. For scans [20,50], target 1 is moving in parallel to the group of other targets running rectilinearly and then these errors are less than respective sensors's ones. The RMSE on X filtered associated with JPDAF performance is three times bigger in the region between scans 20th and 30th where target 1 starts moving in parallel to the rest of rectilinearly moving targets.…”