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An Alternative to the Mahalanobis Distance for Determining Optimal Correspondences in Data Association

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3 Author(s)
Blanco, J.-L. ; Dept. of Syst. Eng. & Autom., Univ. of Malaga, Malaga, Spain ; Gonzalez-Jiménez, J. ; Fernandez-Madrigal, J.-A.

The most common criteria to determine data association rely on minimizing the squared Mahalanobis distance (SMD) between observations and predictions. We hold that the SMD is just a heuristic, while the alternative matching likelihood is the optimal statistic to be maximized. Thorough experiments undoubtedly confirm this idea, with false positive reductions of up to 16%.

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Robotics, IEEE Transactions on  (Volume:28 ,  Issue: 4 )