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Table 2
Track splitting and merging management algorithm.
| Algorithm: Track Splitting and Merging Management |
| Input: All confirmed track sets Tracks of the current frame Output: Updated track set Tracks 1: For each track in Tracks: 2: Calculate the associated observation set Zk of the current track 3: Calculate Psplit according to equation (12) (using variables λ, Ckt , σn) 4: If Psplit > Tsplit: 5: Cluster Zk (e.g., K-means, k=2) 6: Generate two new tracks, initialized with the two cluster centers respectively 7: Mark the original track as to be deleted 8: Check all track pairs (Tracki, Trackj): 9: Calculate the spatial distance dij and velocity angle θij 10: If dij < δmerge: 11: Calculate Pmerge according to equation (13) (using variables κ, ι, dij, θij, δmerge) 12: If Pmerge > Tmerge: 13: Weighted fusion of the states and covariances of Tracki and Trackj based on track quality (referring to the mixed state fusion logic of equations (5) and (6) 14: Generate a new track and delete Tracki and Trackj 15: Clean up tracks marked as to be deleted and update Tracks |
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