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I. INTRODUCTION
For many surveillance applications, targets of
Detection and Tracking of interest tend to travel in groups, for example, a group
of aircraft moving in a tight formation or a convoy
Coordinated Groups of vehicles moving along a road. There are two
principal reasons why we wish to explicitly model the
behaviour of groups, as opposed to treating all objects
independently as in most multiple target tracking
approaches. The first is that the joint tracking of
(a priori) dependent objects within a group will lead
SZE KIM PANG
JACK LI to greater detection and tracking ability in hostile
SIMON J. GODSILL environments with high noise and low detection
Cambridge University probabilities. For example, if we know several targets
are in a group formation, then we can infer some
information about the positions and speed of those
targets with missing measurements due to poor
In this paper, we describe models and algorithms for det
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