Theoretical design of trackers for tracking probability enhancement

Design of a tracker has a significant effect on the performance. Design is, however, not a trivial task, which requires much experience. This paper presents theoretically solid designs of the tracking filters based on a newly-introduced concept of tracking probability. Specifically, analytic results for the selection of the transition probability, the initial tracking probability, and the thresholds for track confirmation and termination are presented. Supporting simulation results are also given for the design of the recently-developed Intelligent Probabilistic Data Association (IPDA) filter.