JPDAF, the data association based technique, is an efficient way of independently tracking targets by calculating the intersection of each other.
To apply real-time surveillance systems, we compare the performance of the proposed method with that of JPDAF. In the second experiment, we test the multi-target tracking for soccer players that occlude each other.
7 shows the average processing time of one frame for the particle filter based on JPDAF  and the proposed DPF.
Shiry, Multiple Target Tracking for Mobile Robots Using the JPDAF Algorithm, Tools and Applications with Artificial Intelligence, pp.