IMM-based Multiple Object Tracking using a State Prediction Neural Network

The paper introduces PR-IMM, a data‑driven state predictor‑based Interacting Multiple Model tracking method that integrates a transformer‑based prediction model with radar Doppler measurements. PR-IMM combines this prediction model with conventional CV, CA, and CT motion models, dynamically weighting their prior positions according to mode probabilities. Experiments demonstrate that PR-IMM reduces position‑estimation error by 57.3% compared to the standard IMM and by 16.5% compared to the prediction model alone, while also lowering ID switches by 25.3% and improving IDF1 by 9.6%.

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