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Joint Probability Data Association Real Time
Tracking
Main Requirements
•
The tracking algorithm shall not exceed 100 ms.
•
The tracking algorithm shall use EKF (Extended Kalman
Filter).
•
The tracking algorithm shall use the DFS algorithm.
Products
The product is a system for a real time tracking of radar
measurements using the JDPA algorithm. The system
receives a txt file in csv format containing plots as the input
and the output of the system is a csv file containing the
tracks of the plots tracking.
We also provide a program which displays in a graph format
the movement of the tracks over time.
Amit Zoarez, Tav Beza
Advisor: Dr. Israel Yaron
Software Engineering
System architecture
project results
The tarackerJDPA system is a tracker capable of processing
detections of multiple targets from multiple sensors. The
tracker uses JPDA to assign detections to each track. The
tracker intializes, confirms corrects, predicts and deletes track.
Input to the tracker are detection reports generated by
objectDetection, radarSensor, sonarSensor objects. If the
detection cannot be assigned to any existing track, the tracker
creates a new track.