An Alternative to the Mahalanobis Distance for Determining Optimal Correspondences in Data Association
Jose‐Luis Blanco, Javier González-Jiménez, Juan‐Antonio Fernández‐Madrigal · IEEE Transactions on Robotics · 2012
The most common criteria to determine data association rely on minimizing the squared Mahalanobis distance (SMD) between observations and predictions. We hold that the SMD is just a heuristic, while the alternative matching likelihood is the optimal statistic to be maximized. Thorough experiments undoubtedly confirm this idea, with false positive reductions of up to 16%.