A new formulation of IPDAF for tracking in clutter

An improved version of Integrated Probabilistic Data Association Filter (IPDAF) based on a new concept of probability of target perceivability was introduced recently. This paper presents theoretical results of a new formulation for IPDAF. Validity and comparison of this new IPDAF with its previous version is discussed through simulations results presented at the end of the paper. This provides a new basis of an integrated approach to track initiation, confirmation, termination and maintenance.

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