Reduced throughput track data association using look-up tables

摘要

A system for rapidly associating a set of tracks with a set of sensor observations. Look-up tables are formed, with each look-up table being associated with a portion of a geometric surface surrounding the sensor so that the table cells correspond to various directions in free space in which sensor observations may be made. On the edges of each look-up table are overlap boundary rows of cells which contain the same sensor data as cells of the adjacent table. The observations from a sensor are populated into the tables based upon the directional orientation of the observations. Predicted values are calculated for each target object data track, and groups of cells surrounding the predicted values are searched for sensor observation data to match with each track. Having overlap boundary rows for each table which contain redundant data from the edge of the adjacent table allows the search for sensor data to match with a track to be performed within a single table.