A Bayesian look at the optimal track labelling problem

E.H. Aoki, Y. Boers, L. Svensson, Pranab K. Mandal, Arunabha Bagchi

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    10 Citations (Scopus)


    In multi-target tracking (MTT), the problem of assigning labels to tracks (track labelling) is vastly covered in literature, but its exact mathematical formulation, in terms of Bayesian statistics, has not been yet looked at in detail. Doing so, however, may help us to understand how (and when) Bayes-optimal track labelling should be performed or numerically approximated. Moreover, it can help us to better understand and tackle some practical difficulties associated with the MTT problem, in particular, the situation where targets move in close proximity with each other and thereafter separate. In this paper, we rigorously formulate the probabilistic track labelling problem using Finite Set Statistics (FISST), identifying when the problem is well- (or ill-) posed. We look in detail at the phenomenon of confusion on track labelling after targets have moved in close proximity ("mixed labelling"). We derive statistics associated with track labelling, with solid physical interpretation, that can be used to quantify mixed labelling, find the optimal track label assignment, and evaluate track labelling performance.
    Original languageUndefined
    Title of host publicationProceedings of the 9th IET Data Fusion & Target Tracking Conference (DF&TT'12)
    Place of PublicationStevenage, UK
    PublisherInstitution of Engineering and Technology
    Number of pages6
    ISBN (Print)978-1-62276-195-1
    Publication statusPublished - May 2012
    Event9th IET Data Fusion & Target Tracking Conference, DF&TT 2012 - London, UK
    Duration: 16 May 201217 May 2012

    Publication series

    PublisherInstitution of Engineering and Technology (IET)


    Conference9th IET Data Fusion & Target Tracking Conference, DF&TT 2012
    Other16-17 May 2012


    • EWI-22644
    • Particle filter
    • Track labelling
    • METIS-296164
    • IR-82548
    • Finite Set Statistics
    • Target tracking

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