Tracking and Data Fusion: A Handbook of Algorithms

This book, which is the
revised version of the 1995 text
MULTITARGET-MULTISENSOR
TRACKING: PRINCIPLES AND TECHNIQUES, at double the length, is the
most
comprehensive state of the art compilation of practical
algorithms for the estimation of the states of
targets in surveillance systems operating in a
multitarget environment using data fusion.
This problem
is characterized by measurement origin uncertainty,
typical for low observables.
The tools for design of algorithms for the association of
measurements and tracking are presented. Explicit
consideration is given for measurements
obtained from different sensors under realistic
assumptions --- lack of synchronicity and
different detection and accuracy characteristics. Several
real-data examples are given to illustrate
the techniques discussed.
The modeling accounts for target maneuvers, non-unity detection probability,
false alarms, interference from other targets and the finite
resolution capability of sensors. The problems of track initiation,
maintenance and multisensor data fusion are considered. The
optimization of certain signal processing parameters based on
tracking performance is also discussed. The latest results on measurement extraction for unresolved targets, sensor management and data fusion are included.
Many of these techniques have applications to state estimation when using
multiple sensors in control systems, autonomous vehicle navigation, robotics and wireless communication.
An extensive index is provided with all the indexed terms highlighted in the text for the convenience of the reader.

Yaakov Bar­Shalom
was born on May 11, 1941. He received the B.S. and M.S. degrees from the Technion, Israel Institute of Technology, in 1963 and 1967 and the Ph.D.
degree from Princeton University in 1970, all in electrical engineering.
From 1970 to 1976 he was with Systems Control, Inc., Palo Alto, California. Currently he is Board of
Trustees Distinguished Professor in the Dept. of Electrical and Computer Engineering
and Marianne E. Klewin Professor in Engineering at the University of Connecticut. He is also Director of the
ESP (Estimation and Signal Processing) Lab.
His current research interests are in estimation theory, target tracking and data fusion. He has published over
400 papers and book chapters in these areas and in stochastic adaptive control. He coauthored the monograph Tracking and Data Association
(Academic Press, 1988), the graduate texts Estimation and Tracking: Principles, Techniques
and Software (Artech House, 1993), Estimation with Applications to Tracking and Navigation:
Algorithms and Software for Information Extraction (Wiley, 2001), the advanced graduate texts
Multitarget­Multisensor Tracking: Principles and Techniques (YBS Publishing, 1995), Tracking and Data Fusion (YBS Publishing, 2011),
and edited the books Multitarget­Multisensor Tracking: Applications and Advances (Artech House, Vol. I,
1990; Vol. II, 1992; Vol. III, 2000).
He has been elected Fellow of IEEE for "contributions to the theory of stochastic systems and of multi­
target tracking". He has been consulting to numerous companies and government agencies, and originated
the series of Multitarget­Multisensor Tracking short courses offered via UCLA Extension, at Government
Laboratories, private companies and overseas.
During 1976 and 1977 he served as Associate Editor of the IEEE Transactions on Automatic Control
and from 1978 to 1981 as Associate Editor of Automatica. He was Program Chairman of the 1982 American
Control Conference, General Chairman of the 1985 ACC, and Co­Chairman of the 1989 IEEE International
Conference on Control and Applications. During 1983­87 he served as Chairman of the Conference Activities
Board of the IEEE Control Systems Society and during 1987­89 was a member of the Board of Governors of
the IEEE CSS. He was a member of the Board of Directors of the International Society of Information Fusion
(1999--2004) and served as General Chairman of FUSION 2000, President of ISIF in 2000 and 2002 and
Vice President for Publications in 2004-11.
In 1987 he received the IEEE CSS Distinguished Member Award. Since 1995 he is a Distinguished
Lecturer of the IEEE AESS and has given numerous keynote addresses at major national and international
conferences. He is co­recipient of the M. Barry Carlton Award for the best paper in the IEEE Transactions
on Aerospace and Electronic Systems in 1995 and 2000 and recipient of the 1998 University of Connecticut AAUP
Excellence Award for Research. In 2002 he received the J. Mignona Data Fusion Award from the DoD JDL
Data Fusion Group. He is a member of the Connecticut Academy of Science and Engineering.
In 2008 he was awarded the IEEE Dennis J. Picard Medal for Radar Technologies and Applications.