Multitarget ground tracking with road maps and particle filters
G. Kravaritis, B. Mulgrew · 2006
This paper studies the problem of tracking multiple targets on the ground when information about the road map is available. It introduces an algorithmic structure which employs a particle filter for estimation and tracking in conjunction with a gating function and a data association scheme for measurement-to-track assignment. The proposed technique is based on the variable structure multiple model particle filter and the joint probabilistic data association algorithm