Multi-sensor, probabilistic multi-hypothesis tracking
M.L. Krieg, Douglas Andrew Gray · 2002
The success of multi-target, multi-sensor tracking is dependent on satisfactorily solving the data association problem. The probabilistic multi-hypothesis tracking (PMHT) algorithm was developed for multi-target tracking and has led to the development of several variations, including the multi-sensor PMHT (msPMHT) algorithm for multi-target, multi-sensor tracking. We present a general multi-sensor PMHT algorithm which estimates the measurement-to-sensor assignments in addition to the target states and measurement-to-target assignments. We compare this algorithm to the PMHT and msPMHT algorithms.