- Review Gating Criteria: Ensure gating accurately reflects measurement and prediction uncertainties.
- Tune Data Association Algorithm: Optimize your algorithm (e.g., MHT, JPDA) for better measurement-to-track assignments.
- Implement One-to-One Constraint: Use optimization algorithms like the Hungarian method to enforce exclusive assignments.
- Enhance Measurement Model: Improve the fidelity of your measurement model to reduce ambiguities.
- Utilize Track Quality Metrics: Prioritize measurements for tracks based on scores reflecting their consistency or reliability.
- Custom Association Logic: After running the TOMHT, iterate through the associations and check for measurements assigned to multiple tracks. Use custom logic to resolve these based on your criteria.
Tracker TOMHT assigns same measurement to two tracks
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How can I force the TOMHT to assign one measurement to one track? In my scenario, I am seeing that the tracker is assigning one measurement to two tracks. I have played around with the gate parameter to prevent this from happening but to no avail. Attached is a plot showing the color-coded detections used by each track, at a certain point the tracks begin both using the red detections (at the same time steps).
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Abhinaya Kennedy
2024-3-27
Hi Brittany,
To prevent a Track-Oriented Multi-Hypothesis Tracker (TOMHT) from assigning one measurement to multiple tracks, you can:
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