Approximate evaluation of marginal association probabilities with belief propagation
Date
2014
Authors
Williams, J.
Lau, R.
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Journal article
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IEEE Transactions on Aerospace and Electronic Systems, 2014; 50(4):2942-2959
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Jason Williams, Roslyn Lau
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Abstract
Data association, the problem of reasoning over correspondence between targets and measurements, is a fundamental problem in tracking. This paper presents a graphical model formulation of data association and applies an approximate inference method, belief propagation (BP), to obtain estimates of marginal association probabilities. We prove that BP is guaranteed to converge, and bound the number of iterations necessary. Experiments reveal a favourable comparison to prior methods in terms of accuracy and computational complexity.
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© 2014 Crown