Tracker TOMHT assigns same measurement to two tracks

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).

Answer 1

[Abhinaya Kennedy]

Hi Brittany,

To prevent a Track-Oriented Multi-Hypothesis Tracker (TOMHT) from assigning one measurement to multiple tracks, you can:

1. Review Gating Criteria: Ensure gating accurately reflects measurement and prediction uncertainties.
2. Tune Data Association Algorithm: Optimize your algorithm (e.g., MHT, JPDA) for better measurement-to-track assignments.
3. Implement One-to-One Constraint: Use optimization algorithms like the Hungarian method to enforce exclusive assignments.
4. Enhance Measurement Model: Improve the fidelity of your measurement model to reduce ambiguities.
5. Utilize Track Quality Metrics: Prioritize measurements for tracks based on scores reflecting their consistency or reliability.
6. 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.