Multisensor data fusion using two-stage analysis on pairs of plots graphs

This article provides a derivation and a description of the analysis on pair of plots graphs, useful to data fusion of multiple targets in a multiple sensors cluttered environment. The method proposes an analysis in two stages, instead of the previously proposed single-stage method, to choose the best data from possible redundant sensors. The analysis in two stages is parallelizable, which potentially brings performance gains. In this paper, the single-stage and the two-stage algorithms are evaluated in light and heavy cluttered environments. The evaluation is based in two different metrics applied over different target trajectories with hard and heavy environmental clutter conditions.