A PolynomialTime Approximation Algorithm for Joint Probabilistic Data Association Songhwai Oh and Shankar Sastry Abstract Joint probabilistic data association JPDA is a powerful tool for solving dat
However the exact compu tation of association probabilities jk in JPDA is NPhard where jk is the probability that th observation is from th track Hence we cannot expect to compute association probabilities in JPDA exactly in polynomial time unless N
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