# Robust Target Association Method with Weighted Bipartite Graph Optimal Matching in Multi-Sensor Fusion

## TL;DR

This paper introduces a robust method for multi-sensor target association that improves accuracy in complex, real-world tracking scenarios.

## Contribution

A training-free framework combining deep embedding, clustering, and graph matching for robust group target association.

## Key findings

- The method achieves over 90% association accuracy in dense scenarios with 1.4 km target spacing.
- It outperforms Deep Association and JPDA by more than 20% under systematic bias conditions.
- The framework is robust, adaptable, and suitable for practical multi-radar applications.

## Abstract

Accurate group target association is essential for multi-sensor multi-target tracking, particularly in heterogeneous radar systems where systematic biases, asynchronous observations, and dense formations frequently cause ambiguous or incorrect associations. Existing approaches often rely on strict spatial assumptions or pre-trained models, limiting their robustness when measurement distortions and sensor-specific deviations are present. To address these challenges, this work proposes a robust association framework that integrates deep feature embedding, density-adaptive clustering, and global graph-theoretic matching. The method first applies an autoencoder–HDBSCAN clustering scheme to extract stable latent representations and obtain adaptive group structures under nonlinear distortions and non-uniform target densities. A weighted bipartite graph is then constructed, and a global optimal matching strategy is employed to compensate for heterogeneous systematic errors while preserving inter-group structural consistency. A mutual-support verification mechanism further enhances robustness against random disturbances. Monte Carlo experiments show that the proposed method maintains over 90% association accuracy even in dense scenarios with a target spacing of 1.4 km. Under various systematic bias conditions, it outperforms representative baselines such as Deep Association and JPDA by more than 20%. These results demonstrate the method’s robustness, adaptability, and suitability for practical multi-radar applications. The framework is training-free and easily deployable, offering a reliable solution for group target association in real-world multi-sensor fusion systems.