[Introduction to Data Association

목적 : Gating to determine possible matching observations

정의 : A method for pruning matches that are geometrically unlikely from the start.

Data Association Scores

• Similarity or affinity scores for determining the correspondence of blobs across frames is based on feature similarity between blobs.

• Commonly used features: location , size / shape, velocity, appearance

• For example: location, size and shape similarity can be measured based on bounding box overla(IoU)

Validation Gate

• The area around the predicted measurement in which pairings are accepted is called validation gate or validation region

• This procedure is also called validation gaiting or simply gaiting

Validation Gate 방법

• Euclidian distance : Position(O), Uncertainty(x), Correlations (x)
• Mahalanobis distance with diagonal covariance matrices : Position(O), Uncertainty(o), Correlations (x)
• Mahalanobis distance : Position(O), Uncertainty(O), Correlations (O)