Joint Probabilistic Data Association

Resources:

• page=141 Ch. 8
• page=284
• Multi Target Tracking

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Generalization of the PDAF to multiple objects.

The Prediction Step:

Follows the Chapman - Kolmogorov Equation given by Where $t$ denotes the target

This is the same as in the PDAF (Eq. 7.6 and 7.15)

JPDA Specific Assumptions