In this work, we consider fusing data from a radar and imaging sensor to track targets more accurately. The first part of the work focuses on positional data fusion, that is, fusing (or combining) position measurements from a radar and an imaging sensor. We develop measurement models for both the radar and imaging sensor. These models are used in developing new techniques for fusing data from these two sensors. Issues involving sensor alignment and asynchronous measurements are also explored. In the second part of this work, we develop new techniques for utilizing imaging sensor data to detect the onset and termination of maneuvers. The maneuver detector is utilized along with a radar to more accurately track highly maneuverable targets using adaptive filtering algorithms.
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