An Multi-detection Target Tracking Algorithm Based on δ-GLMB Adaptive Threshold Determination

In actual complex traffic scenarios, millimeter-wave radar can obtain multiple measurements from a single target, which can lead to multi-target tracking results of the δ-Generalized labelled multi-bernoulli (δ-GLMB) filtering algorithm may appear multiple trajectories for a single target. To address these issues, an improved algorithm with adaptive threshold determination based on δ-GLMB tracking results was proposed. Firstly, targets in the scene were tracked by a δ-GLMB filter. Then, using the adaptive threshold determination method to make the redundant track points of the target were deleted and the labels belonging to the same target were unified. In this paper, 77GHz millimeter-wave radar was used to conduct experiments on the monitoring data of actual traffic scenes. The results show that the method proposed by this paper has a significant improvement in the accuracy of target number estimation and is more robust to actual traffic data.