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Tham khảo tài liệu 'sensor fusion and its applications part 14', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 384 Sensor Fusion and Its Applications The last stage of this algorithm consists to establish the best decision from the previously computed associations using the both pignistic probabilities matrices BetPn x. j y. and BetPa r. j .v. . The decision stage is done with the maximum pignistic probability rule. This rule is applied on each column of both pignistic probabilities matrices. With the first matrix this rule answers to the question which track Yj is associated with target Xi Xi d Yj Max J i Betpf . X lh J 16 With the second matrix this rule answers to the question which target Xi is associated to the track Yjl j Yj d Xi Max Betp j j L Y FX J 17 Unfortunately a problem appears when the decision obtained from a pignistic matrix is ambiguous this ambiguity quantifies the duality and the uncertainty of a relation or when the decisions between the two pignistic matrices are in conflict this conflict represents antagonism between two relations resulting each one from a different belief matrix . Both problems of conflicts and ambiguities are solved by using an assignment algorithm known under the name of the Hungarian algorithm Kuhn 1955 Ahuja et al. 1993 . This algorithm has the advantage of ensuring that the decision taken is not good but the best . By the best we mean that if a known object has defective or poor sensors perceiving it then the sensor is unlikely to know what this object corresponds to and therefore ensuring that the association is good is a difficult task. But among all the available possibilities we must certify that the decision is the best of all possible decisions. Once the multi-objects association has been performed the Kalman filter associated to each target is updated using the new position of the target and so the dynamic state of each target is estimated i.e. both speed and angular speed. 4. Validation of the hypotheses of detection case of a stereovision-based validation In order to validate the existence of the targets detected by the