Iterative joint integrated probabilistic data association for multitarget tracking

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In situations with a significant number of targets in mutual proximity (close to each other), optimal multitarget data association approach suffers from the numerical explosion. This severely limits the applicability, i.e., the number of close targets that may be reliably tracked.We propose an iterative implementation of the joint integrated probabilistic data association (JIPDA) which allows a performance/computation resources tradeoff. This approach can also be incorporated into joint integrated track splitting (JITS). The iterations start with the single target integrated probabilistic data association (IPDA) and each subsequent iteration improves the approximation towards JIPDA, reaching the optimal multitarget solution within a finite number of iterations.