The tracker component library: free routines for rapid prototyping

Abstract

The area of target tracking is a mature field with a great many algorithms having been developed over the years. Although this means that algorithms exist to suit a large number of specializations, such as radar, sonar, and image tracking, this also means that it can be difficult to determine which algorithm is the best. Additionally, the literature does not, for the most part, present complete algorithms for target tracking, but rather components of tracking algorithms. For example, measurements might be processed in various filters, which might themselves be incorporated into a framework for handling multiple dynamic models, which might be incorporated into a procedure for handling target measurement assignments, which could be part of a general track initiation and termination procedure, and all of which would tie into scheduling algorithms that select waveforms and dwell times for a radar. On top of that, various physical models are needed for handling atmospheric refraction and other effects. Consequently, the Tracking Component Framework described here has been created as a first step to simplifying the rapid design and evaluation of target-tracking algorithms.