Abstract
Data association with great efficiency is an important problem in multiple extended target tracking. It is more challenging than that in point target tracking as the measurements of extended targets are more. This study presents a graphical model formulation of data association for extended target tracking, which is solved by belief propagation (BP) to obtain estimations. To construct the graphical model, a simplified scheme for measurements is proposed to improve the tracking efficiency, which is based on minimal spanning tree algorithm. Then, the data association problem according to the simplified measurement set is presented, solved by BP. Finally, experiment results show the proposed algorithm has advantages over the algorithm based on joint probabilistic data association and the previous data association algorithm, introduced by Vivone and Braca, in terms of robustness and efficiency.
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