correct

Correct phd filter with detections

Syntax

correct(phd,detectionIndices,likelihood)

Description

correct(phd,detectionIndices,likelihood) corrects phd filter object using detections specified by detectionIndices and corresponding detection likelihoods, likelihood.

Input Arguments

collapse all

`phd` — phd filter
`ggiwphd` filter object | `gmphd` filter object

phd filter, specified as a ggiwphd filter object or a gmphd filter object.

Example: phd

Data Types: object

`detectionIndices` — Indices of detection cells
M-by-P logical matrix

Indices of detection cells, specified as an M-by-P logical matrix. M is the number of detections, and P is the number of detection cells. In each column, if the value of the ith element is 1, then the ith detection belongs to the detection cell specified by this column. On the contrary, if the value of the ith element is 0, then the ith detection does not belong to the detection cell specified by this column.

Example: [1 0 0; 0 1 1; 1 1 0]

Data Types: logical

`likelihood` — Likelihood of association between detection cells and components
N-by-P real-valued matrix

Likelihood of association between detection cells and components in the density, specified as an N-by-P real-valued matrix. N is the number of components in the density of PHD filter, and P is the number of detection cells specified by detectionIndices. The (i,j) element of likelihood matrix represents the likelihood of association between component i and detection cell j. The weight of a component after correction is equal to its original weight multiplied by its likelihood.