Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Multiple scan data association by convex variational inference   Data association, the reasoning over correspondence between targets and
measurements, is a problem of fundamental importance in target tracking.
Recently, belief propagation (BP) has emerged as a promising method for
estimating the marginal probabilities of measurement to target association,
providing fast, accurate estimates. The excellent performance of BP in the
particular formulation used may be attributed to the convexity of the
underlying free energy which it implicitly optimises. This paper studies
multiple scan data association problems, i.e., problems that reason over
correspondence between targets and several sets of measurements, which may
correspond to different sensors or different time steps. We find that the
multiple scan extension of the single scan BP formulation is non-convex and
demonstrate the undesirable behaviour that can result. A convex free energy is
constructed using the recently proposed fractional free energy (FFE). A
convergent, BP-like algorithm is provided for the single scan FFE, and employed
in optimising the multiple scan free energy using primal-dual coordinate
ascent. Finally, based on a variational interpretation of joint probabilistic
data association (JPDA), we develop a sequential variant of the algorithm that
is similar to JPDA, but retains consistency constraints from prior scans. The
performance of the proposed methods is demonstrated on a bearings only target
localisation problem.

26
The categories of this paper are: bayes-an
15
The categories of this paper are: nucl-ex
16
The categories of this paper are: stat
37
The categories of this paper are: supr-con
6
The categories of this paper are: astro-ph
8
The categories of this paper are: hep-ex
34
The categories of this paper are: chem-ph
0
The categories of this paper are: hep-ph
12
The categories of this paper are: nucl-th
9
The categories of this paper are: nlin
4
The categories of this paper are: cond-mat
33
The categories of this paper are: plasm-ph
25
The categories of this paper are: patt-sol
3
The categories of this paper are: physics
24
The categories of this paper are: dg-ga
29
The categories of this paper are: funct-an