Fast and Robust Track Initiation Using Multiple Trees
by Jeremy Kubica, Andrew Moore, Andrew Connolly, and Robert Jedicke
BibTeX:
@techreport{kubica_2004_0462,
author = "Jeremy Kubica and Andrew Moore and Andrew Connolly and Robert Jedicke",
title = "Fast and Robust Track Initiation Using Multiple Trees",
institution = "Robotics Institute, Carnegie Mellon University",
month = "November",
year = "2004",
number = "CMU-RI-TR-04-62",
address = "Pittsburgh, PA"
}
Abstract:
In this paper we examine a fundamental problem in many tracking tasks:
track initiation (also called linkage). This problem consists of taking
sets of point observations from different time steps and linking together
those observations that fit a desired model without any previous track
estimates. In general this problem suffers from a combinatorial explosion
in the number of potential tracks that must be evaluated.
We introduce a new methodology for track initiation that exhaustively
considers all possible linkages. We then introduce an exact multiple
kd-tree algorithm for tractably finding all of the linkages. We compare
this approach to an adapted version of multiple hypothesis tracking using
spatial data structures and show how the use of multiple trees can provide
a significant benefit.
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