NMCDA_INIT NMCDA Data structure initialization
Syntax:
S = nmcda_init(np,M0,P0,dt,[W])
Author:
Simo Särkkä, 2003
In:
np - Number of Monte Carlo samples
M0 - Target prior mean
P0 - Target prior covariance
dt - Time between measurements
W - Prior importance weights (optional, default: uniform)
Out:
S - Struct array of particles
Description:
Initialize data structure for Rao-Blackwellized Monte Carlo
Data Association Algorithm with Number of Targets estimation.
Each element of array S represents one particle, which is a
data structure containing the following fields:
M : Cell array of size 1xT of T target means
P : Cell array of size 1xT of T target covariances
W : Importance weight
M0 : Prior mean for targets
P0 : Prior covariance for targets
T : Times of last associated measurements
B : Birth indicator
D : Death index, zero means none
dt : Elapsed time from last measurement
See also:
KF_NMCDA_PREDICT, KF_NMCDA_UPDATE, EKF_NMCDA_PREDICT, EKF_NMCDA_UPDATE,
UKF_NMCDA_PREDICT, UKF_NMCDA_UPDATE