The Integrated Probabilistic Data Association Filter Adapted to Lie Groups

08/16/2021

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by   Mark E. Petersen, et al.

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The Integrated Probabilistic Data Association Filter is a target tracking algorithm based on the Probabilistic Data Association Filter (PDAF) that calculates a statistical measure that indicates if a track should be rejected or confirmed to represent a target. The main contribution of this paper is to adapt the IPDA filter to target models that evolve on connected unimodular Lie groups, and where the measurements models also involve a Lie group. The paper contains a high level introduction to Lie groups, and then shows applications of the theory to tracking a car from an overhead UAV using camera information.