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correctUndetected

Correct phd filter with no detection hypothesis

Description

correctUndetect(phd,Pd) corrects the phd filter, phd, with the sensor detection probability, Pd. If used with ggiwphd, the function calculates the probability of generating zero detections using the current Gamma distribution of the filter. If used with gmphd, the probability of generating zero detections is assumed to be zero.

correctUndetect(phd,Pd,PzeroDets) allows you to specify the conditional probability for generating zero detections using PzeroDets.

Input Arguments

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phd filter, specified as a ggiwphd filter object or a gmphd filter object.

Example: phd

Data Types: object

Sensor's detection probability for each component in the density of the PHD filter, specified as a 1-by-N real-valued row vector, where N is the number of components.

Example: [0.5 0.6 0.55]

Data Types: single | double

Probability of generating zero detection for each component in the density of the PHD filter, specified as a 1-by-N real-valued row vector, where N is the number of components.

Example: [0.1 0.2 0.15]

Data Types: single | double

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2019a