Tracking Variable Number of Targets with Joint Probabilistic Data Association Filter

Joint Probabilistic Data Association Filter (JPDAF) is an algorithm for overcoming the measurement-to-track association problem in multi-target tracking systems. JPDAF requires that the number of targets being tracked is a foreknown, constant parameter. Therefore, targets exiting and entering into the field of view reduces the tracking performance of JPDAF. In this work, an algorithm which makes it possible to use JPDAF for tracking variable number of targets is presented.