Multitarget sensor resolution model for arbitrary target numbers
Daniel Svensson, Martin Ulmke, Lars G. Danielsson · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2010
In many surveillance problems the observed objects are so closely spaced that they cannot always be resolved by the sensor(s). Typical examples for partially unresolved measurements are the surveillance of aircraft in formation, and convoy tracking for ground surveillance. Ignoring the limited sensor resolution in a tracking system may lead to degraded tracking performance, in particular unwanted track-losses. In this paper we extend the resolution model by Koch and van Keuk, given for two partially unresolved objects, to the case of arbitrary object numbers. We also derive the effects of the resolution model to the multi-target likelihood function and the possible data associations. Further, it is shown how the model can be integrated into the Joint Probabilistic Data Association Filter (JPDAF).