The Information-Form Data Association Filter

The Information-Form Data Association Filter

Brad Schumitch, Sebastian Thrun, Gary Bradski, and Kunle Olukotun

This paper presents a filter for online data association problems in high-dimensional spaces. The key innovation is a representation of the data association posterior in information form, in which the "proximity'' of objects and tracks are expressed by a numerical links. Updating these links requires linear time, compared to exponential time required for computing posterior probabilities. The paper derives the algorithm formally, and provides comparative results for using data obtained by real-world camera array and by a large-scale sensor network simulation.

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