paper

Marginal Multi-Bernoulli Filters: RFS Derivation of MHT, JIPDA, and Association-Based MeMBer.

Volume Number:
51
Issue Number:
3
Pages:
1664
–
1687
Publication Date:
28 September 2015

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Abstract

Recent developments in random finite sets (RFSs) have yielded a variety of tracking methods that avoid data association. This paper derives a form of the full Bayes RFS filter and observes that data association is implicitly present, in a data structure similar to multiple hypothesis tracking (MHT). Subsequently, algorithms are obtained by approximating the distribution of associations. Two algorithms result: one nearly identical to joint integrated probabilistic data association (JIPDA), and another related to the multiple target multi-Bernoulli (MeMBer) filter. Both improve performance in challenging environments.