Research Article
Iterative Mixture Component Pruning Algorithm for Gaussian Mixture PHD Filter
Algorithm 1
Iterative pruning algorithm.
(1) normalize by formula (20). | (2) . | (3) . | (4) for do | (5) for do | (6) compute by formula (28). | (7) end for | (8) end for | (9) for do | (10) compute by formula (31). | (11) end for | (12) for do | (13) compute by formula (34). | (14) end for | (15) for do | (16) if do | (17) for do | (18) . | (19) . | (20) . | (21) end for | (22) . | (23) . | (24) else do | (25) compute by formula (35). | (26) compute by formula (36). | (27) end if | (28) end for | (29) normalize ; | (30) compute by formula (27); | (31) if do | (32) goto step 3; | (33) end if. |
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