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The paper investigates the recently proposed ultimate Cramer-Rao lower bound (CRLB) for tracking multiple targets (Ristic et al., 2004). There are three main contributions: (1) The effect of interaction between targets is analysed; (2) The multi-target CRLB is verified via Monte Carlo simulations; (3) The broader implication of the CRLB is illustrated in the context of a wireless sensor network.
In a recent paper, Ristic et al., 2004, proposed a simple and exact derivation of the theoretical Cramer-Rao lower bound (CRLB) for tracking multiple targets using intensity maps as measurements. Although the formulation and the theoretical derivations presented in their work are indeed correct, the analysis of the proposed bound and the conclusions that follow are wrong. Here, a correct analysis...
In the present paper, we calculate the Cramér–Rao Lower Bound (CRLB) for the Pd<1 and Pfa>0 case, accounting both for missed detections and false alarms, for an estimation problem in a surveillance system where the measurements are acquired by a radar. The analysis, which is limited to the parameter estimation for a deterministic steady-state target motion, is a further innovation in the computation...
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