A Multilane Tracking Algorithm Using IPDA with Intensity Feature

. 2021 Jan 11;21(2):461. doi: 10.3390/s21020461

Algorithm 2 MAPE.

1:
$▹ Inputs : \bar{x}, ψ, R, P$
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$▹ Output : \hat{x}$
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$▹ Sec tion variables : P, R$
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$▹ \bar{x} : Priors$
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$▹ ψ : Measurements$
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$▹ P : Prior noise covariance$
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$▹ R : Measurement noise covariance$
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$ψ_{v a l i d a t e d} \leftarrow$ Validated-Measurements( $\bar{x}, ψ, R, P$ )
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$m \leftarrow ψ_{v a l i d a t e d}$
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forj=0; j<m; j++do
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$r_{j} \leftarrow ψ (j) - \bar{x}$
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$β_{0} \leftarrow \frac{(1 - P_{D} P_{G})}{C}$
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$β_{j} \leftarrow \frac{L_{j} e_{j}}{C}$
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end for
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$\hat{x} = \bar{x} + \frac{R}{R + Q} \sum_{j = 1}^{m} β_{j} r_{j}$