A Comprehensive Analysis of Tracking as a Data Association Problem.

摘要

Algorithms based on traditional notion of tracking as a state estimation problem yield just a single interpretation of the data. For some applications, the ability to identify ambiguities and compare different interpretations using a well-defined measure of confidence is critical. Such applications require a direct solution to the data association problem in order to characterize the relevant uncertainty. This notion of tracking has received relatively little attention largely due to a failure to recognize its utility beyond maintaining the state estimation process. As a result, the options available to the practitioner are limited and the performance of statistical data association models is not well understood, especially in terms of the quality of the sample they produce.;This work has sought to change that by developing a new data association model that extends the scope and flexibility of existing models. The questions of how to specify an objective prior distribution over data association hypotheses and how to efficiently perform inference on the high-dimensional posterior distribution are very much open. To help provide answers, we considered numerous different priors, including Bayesian nonparametric models and several models never before applied to tracking. With regard to inference, we considered various implementations of Markov chain Monte Carlo (MCMC) and population Monte Carlo (PMC) samplers. A comprehensive evaluation was performed in the context of a wide-area radar surveillance application.