A Multilane Tracking Algorithm Using IPDA with Intensity Feature

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

Algorithm A1 IPDATracker.

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$▹ Inputs : Γ, Ψ$
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$▹ Output : Γ (U p d a t e d)$
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$▹ Sec tion Variables : Λ, α, α_{T}, Ω$
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$▹ \bar{x} : Priors$
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$▹ Ψ : Measurements$
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$▹ Γ : Composite data structure for tracks$
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$▹ Λ : A copy of Γ$
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$▹ Ω : A set containing associated tracks$
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$▹ α : A temporary variable$
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$▹ α_{T} : A temporary set of tracks$
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$Λ = Γ . T r a c k s$
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$Ω \leftarrow \emptyset$
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if $Λ . s i z e () > 0$ then
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for i=0; i< $s i z e (Γ)$ ; i++ do
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${\hat{x}}_{k k - 1}^{i} \leftarrow$ Equation (34)
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$P_{k k - 1}^{i} \leftarrow$ Equation (35)
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$W_{k}^{i} \leftarrow$ Equation (43)
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${\hat{z}}_{k k - 1} \leftarrow$ Equation (36)
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$S_{k} \leftarrow$ Equation (37)
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$V (k, γ) \leftarrow$ Equation (39)
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if $V . s i z e () > 0$ then
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for $j = 0$ to V.size() do
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$L_{k}^{i} \leftarrow$ Equation (40)
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$e_{k}^{i} \leftarrow$ Equation (41)
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end for
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$β_{k}^{i} \leftarrow$ Equation (31)
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${\hat{x}}_{k k}^{i} \leftarrow$ Equation (42)
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$P_{k k}^{i} \leftarrow$ Equation (44)
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else
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$Λ^{i} . x_{k} \leftarrow {\hat{x}}_{k}^{i}$
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$Λ^{i} . P_{k} \leftarrow P_{k}^{i}$
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$Ω \leftarrow Ω \cup 0$
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$α \leftarrow getTrackType (Ω, Λ^{i})$
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$Λ^{i} . I D \leftarrow getTrackID (α, Λ^{i})$
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$Λ^{i} . t y p e \leftarrow α$
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end if
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$Λ^{i} . x_{k} \leftarrow {\hat{x}}_{k k}^{i}$
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$Λ^{i} . P_{k} \leftarrow P_{k k}^{i}$
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$Ω \leftarrow Ω \cup 1$
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$α \leftarrow getTrackType (Ω, Λ^{i})$
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$Λ^{i} . I D \leftarrow getTrackID (α, Λ^{i})$
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$Λ^{i} . t y p e \leftarrow α$
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end for
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$Γ . N o n A s s c o c i a t e d \leftarrow Ψ - Ω$
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$α_{T} \leftarrow mergeTracks (Λ)$
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$Γ . T r a c k s \leftarrow cleanTracks (α_{T})$
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else
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$Γ . N o n A s s c o c i a t e d \leftarrow Ψ$
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end if
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return $Γ$