likelihood

Log-likelihood of association between detection cells and components in the density

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Syntax

lhood = likelihood(phd,detectionIndices)

Description

lhood = likelihood(phd,detectionIndices) returns the log-likelihood of association between detection cells specified by detectionIndices, and components in the phd filter, phd.

Input Arguments

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

Example: phd

Data Types: object

Indices of detection cells, specified as an M-by-P logical matrix. M is the number of detections, and P is the number of detection cells. In each column, if the value of the ith element is 1, then the ith detection belongs to the detection cell specified by this column. On the contrary, if the value of the ith element is 0, then the ith detection does not belong to the detection cell specified by this column.

Example: [1 0 0; 0 1 1; 1 1 0]

Data Types: logical

Output Arguments

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Log-likelihood of association between detection cells and components in the density, specified as an N-by-P real-valued matrix. N is the number of components in the density of PHD filter, and P is the number of detection cells specified by detectionIndices. The (i,j) element of lhood matrix represents the log-likelihood of association between component i and detection cell j.

Extended Capabilities

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

See Also

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Introduced in R2019a

Sensor Fusion and Tracking Toolbox Documentation

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