Incorporating track uncertainty into the OSPA metric
Incorporating track uncertainty into the OSPA metric
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发表时间：
2011-07
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通讯作者：
S. Nagappa;Daniel E. Clark;R. Mahler
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作者：
S. Nagappa;Daniel E. Clark;R. Mahler
本文提出使用Hellinger距离来评估OSPA度规中的局部化误差。Hellinger距离提供了两个分布之间的差异的度量，并在这里用于度量真实目标和估计目标之间的差异，其中真实和估计的单目标状态的特征是高斯分布。OSPA指标被用来评估几种多传感器PHD和CPHD滤波器的性能。通过在几个多传感器PHD和CPHD滤波器上的应用，说明了在度量中引入航迹协方差的重要性。特别是，我们能够识别出对与每个轨道相关的不确定性提供较差估计的过滤器。
This paper proposes the use of the Hellinger distance in evaluating the localisation error in the OSPA metric. The Hellinger distance provides a measure of the difference between two distributions and is used here to measure the difference between the true and estimated targets where the true and estimated single-target states are characterised by Gaussian distributions. The OSPA metric is used to evaluate the performance of several multisensor PHD and CPHD filters. The importance of introducing track covariance into the metric is demonstrated through the application on several multisensor PHD and CPHD filters. In particular, we are able to identify filters that provide a poor estimate of the uncertainty associated with each track.