Multi Target Tracking

Resources:

• page=141 Ch. 8
• page=279

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A generalization of Single-Target Tracking to extend the tracking to $n_k$ targets given $m_k$ measurements. One possible solution is proposed in Ch. 8 in the book and is about Joint Probabilistic Data Association.

In practice this is only needed when the targets are not well separated, and one may confuse their measurements.

Assumptions:

At most-one-assumptions:

1. At most one measurement comes from the target
2. At most one target is the source of any measurement.

General Assumptions:

JPDA Specific Assumptions:

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