1. Data-driven clustering and Bernoulli merging for the Poisson multi-Bernoulli mixture filter
- Author
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Fontana, Marco, García-Fernández, Ángel F., and Maskell, Simon
- Subjects
Electrical Engineering and Systems Science - Signal Processing ,Statistics - Computation - Abstract
This paper proposes a clustering and merging approach for the Poisson multi-Bernoulli mixture (PMBM) filter to lower its computational complexity and make it suitable for multiple target tracking with a high number of targets. We define a measurement-driven clustering algorithm to reduce the data association problem into several subproblems, and we provide the derivation of the resulting clustered PMBM posterior density via Kullback-Leibler divergence minimisation. Furthermore, we investigate different strategies to reduce the number of single target hypotheses by approximating the posterior via merging and inter-track swapping of Bernoulli components. We evaluate the performance of the proposed algorithm on simulated tracking scenarios with more than one thousand targets., Comment: 17 pages, 11 figures, journal paper
- Published
- 2022
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