Jun 24

Misc. Information on Multi-Target Tracking: Algorithm Comparisons

Misc. Information on Multi-Target Tracking: Algorithm Comparisons

Any information on IMM-SD?

  • Theoretically IMM-SD and IMM-MHT should provide equivalent performance in tracking
    • Can be considered as an implementation of IMM-MHT
  • However, simulation shows that IMM-SD performs better.

How can IMM-SD achieve better performance than IMM-MHT?

  • IMM-SD finds the global optimal where IMM-MHT finds current optimum (as I could understand, however, further verification is required)
  • Global optimum through the enumeration of current IMM-MHT

What else does IMM-SD use to find the global optimum?

  • Lagrange relaxation method is used to get approximate optimal global hypothesis

References:

Academic Press Library in Signal Processing: Communications and Radar Signals

What is IMM-JIPDA?

  • Interactive multiple model – Joint integrated Probabilistic Data Association

What are some other related algorithms to IMM-JIPDA?

  • IMM-IPDA, IMM-LMIPDA, PDA is the common concept here

What is the common approach that all of the above algorithms use?

  • Integrates IMM to PDA
  • Each of them models a posterior state estimation – PDF using a single Gaussian pdf.
  • Recursively updates the probability of target existence – IMM style
    • Can be used for false track discrimination

Does IMM-PDA track multiple targets?

  • No, it is to track one target

What are the multi-target tracking algorithms among the names mentioned before?

  • IMM-JIPDA, IMM-LMIPDA

How does IMM-JIPDA work?

  • Calculates a posterior probabilities to all measurements to track allocations
  • The number of measurement to track allocations grows exponentially
  • Hence, IMM-JIPDA can be used for small number of crossing targets
    • Also in low clutter measurement density

How does IMM-LMIPDA work?

  • Integrates linear multi-target method methods with IMM-IPDA
  • When one track is updated with LM
    • The other tracks modulate the clutter measurement density
    • And are subsequently ignored

    References:

    A research paper. I could not locate the paper at this time. Will update, if I come across again

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