Submitted by bradski on Thu, 09/16/2010 - 19:17
| Title | The Information-Form Data Association Filter |
| Publication Type | Conference Paper |
| Year of Publication | 2005 |
| Authors | Schumitsch, Brad., Thrun, Sebastian., Bradski, Gary., and Olukotun, Kunle |
| Conference Name | NIPS |
| Date Published | 2005 |
| Abstract | This paper presents a new filter for online data association problems in
high-dimensional spaces. The key innovation is a representation of the
data association posterior in information form, in which the “proxim-
ity” of objects and tracks are expressed by numerical links. Updating
these links requires linear time, compared to exponential time required
for computing the exact posterior probabilities. The paper derives the
algorithm formally and provides comparative results using data obtained
by a real-world camera array and by a large-scale sensor network simu-
lation.
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