Rl. Popp et al., SHARED-MEMORY PARALLELIZATION OF THE DATA ASSOCIATION PROBLEM IN MULTITARGET TRACKING, IEEE transactions on parallel and distributed systems, 8(10), 1997, pp. 993-1005
Citations number
27
Categorie Soggetti
System Science","Engineering, Eletrical & Electronic","Computer Science Theory & Methods
The focus of this paper is to present the results of our investigation
and evaluation of various shared-memory parallelizations of the data
association problem in multitarget tracking. The multitarget tracking
algorithm developed was for a sparse air traffic surveillance problem,
and is based on an Interacting Multiple Model (IMM) state estimator e
mbedded into the (2D) assignment framework. The IMM estimator imposes
a computational burden in terms of both space and time complexity, sin
ce more than one filter model is used to calculate state estimates, co
variances, and likelihood functions. In fact, contrary to conventional
wisdom, for sparse multitarget tracking problems, we show that the as
signment (or data association) problem is not the major computational
bottleneck. Instead, the interface to the assignment problem, namely,
computing the rather numerous gating tests and IMM state estimates, co
variance calculations, and likelihood function evaluations (used as co
st coefficients in the assignment problem), is the major source of the
workload. Using a measurement database based on two FAA air traffic c
ontrol radars, we show that a ''coarse-grained'' (dynamic) paralleliza
tion across the numerous tracks found in a multitarget tracking proble
m is robust, scalable, and demonstrates superior computational perform
ance to previously proposed ''fine-grained'' (static) parallelizations
within the IMM.