Track Coalescence and Repulsion: MHT, JPDA, and BP

Joint probabilistic data association (JPDA) and multiple hypothesis tracking (MHT) introduced in the 70s, are still widely used methods for multitarget tracking (MTT). Extensive studies over the last few decades have revealed undesirable behavior of JPDA and MHT type methods in tracking scenarios with targets in close proximity. In particular, JPDA suffers from the track coalescence effect, i.e., ...