Comments on “Variations of Joint Integrated Data Association with Radar and Target-Provided Measurements”

Abstract

Recently, a method for including target-provided measurements within a joint integrated probabilistic data association (JIPDA) filter was presented and compared with a belief propagation (BP)-based multitarget tracking method. While the JIPDA-based approach uses multiple kinematic models within an interacting multiple model framework, the BP-based approach uses only a single kinematic model. Here, we present and analyze the results of similar experiments conducted on both simulated and real data. Our results show that the JIPDA-based method tends to outperform the BP-based method when the targets are well-separated and perform sharp maneuvers, whereas the BP-based method outperforms the JIPDA-based method when the targets are closely spaced.