ABSTRACT
Applying ltering algorithms to track the states of multiple targets rst requires the correlation of the tracked objects with their corresponding sensor observations. A variety of probabilistic measures can be applied to each track estimate to determine independently how likely it is to have produced the current observation; however, such measures are useful only in practice for eliminating obviously infeasible candidates. Chapter 4 uses these measures to construct gates for ef ciently reducing the number of feasible candidates to a number that can be accommodated within real-time computing constraints. Subsequent elimination of candidates can then be effected by measures that consider the joint relationships among the remaining track and report pairs.
