Robotics
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Two detections inside one track's gate

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Asked in interviews

During association, a single track's validation gate contains two (or more) detections. What does this mean, and how do different trackers handle it?

predicted trackdet 1det 2gated outtwo detections in the gate → association ambiguity (JPDA / MHT)
A validation gate — the region around a track's predicted state, sized by its covariance — bounds which detections it may match. Here two detections fall inside the same gate, so the association is ambiguous.

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