Joint Probabilistic Data Association

Joint Probabilistic Data Association (JPDA) is a method used in tracking multiple objects simultaneously, especially when measurements are noisy or ambiguous. Instead of linking each measurement to a specific object directly, JPDA considers all possible associations between measurements and objects and assigns probabilities to each scenario. It then combines this information to update the estimated positions of all objects collectively. This approach helps improve tracking accuracy in cluttered environments by accounting for uncertainty and preventing incorrect associations, ensuring a more reliable understanding of multiple moving targets over time.