Tracking multiple spawning targets using Poisson multi-Bernoulli mixtures on sets of tree trajectories

Abstract

This paper proposes a Poisson multi-Bernoulli mixture (PMBM) filter on the space of sets of tree trajectories for multiple target tracking with spawning targets. A tree trajectory contains all trajectory information of a target and its descendants, which appear due to the spawning process. Each tree contains a set of branches, where each branch has trajectory information of a target or one of the descendants and its genealogy. For the standard dynamic and measurement models with multi-Bernoulli spawning, the posterior is a PMBM density, with each Bernoulli having information on a potential tree trajectory. To enable a computationally efficient implementation, we derive an approximate PMBM filter in which each Bernoulli tree trajectory has multi-Bernoulli branches, obtained by minimising the Kullback-Leibler divergence. The resulting filter improves tracking performance of state-of-the-art algorithms in a simulated scenario.

arXiv commentMatlab code can be found at https://github.com/Agarciafernandez

References in corpus (15)

• Marginal multi-Bernoulli filters: RFS derivation of MHT, JIPDA and association-based MeMBer
• Generalized optimal sub-pattern assignment metric
• Poisson multi-Bernoulli mixture filter: direct derivation and implementation
• Poisson multi-Bernoulli conjugate prior for multiple extended object filtering
• Multiple target tracking based on sets of trajectories
• A metric on the space of finite sets of trajectories for evaluation of multi-target tracking algorithms
• Trajectory PHD and CPHD filters
• Trajectory Poisson multi-Bernoulli filters
• Asymptotic genealogy of a critical branching process
• A Generalized Labeled Multi-Bernoulli Filter with Object Spawning
• A Poisson multi-Bernoulli mixture filter for coexisting point and extended targets
• Hybrid Poisson and multi-Bernoulli filters
• Importance Gaussian Quadrature
• Tracking Cells and their Lineages via Labeled Random Finite Sets
• Multi-Scan Implementation of the Trajectory Poisson Multi-Bernoulli Mixture Filter

Cited by in corpus (2)

• Poisson Multi-Bernoulli Mixtures for Sets of Trajectories
• Mitigation of Radar Range Deception Jamming Using Random Finite Sets