A Theoretical Foundation for the Stein-Winter "Probability Hypothesis Density (PHD)" Multitarget Tracking Approach
Ronald Mahler · Defense Technical Information Center (DTIC) · 2000
In several unpublished manuscripts written from 1993 to 1995, Michael Stein, C.L. Winter, and Robert Tenney introduced a multitarget tracking and evidential-accumulation concept called a "Probability Hypothesis Surface" (PHS). A PHS is the graph of a probability distribution-the Probability Hypothesis Density (PHD)-that, when integrated over a region in target state space, gives the expected number of targets in that region. The PHD is uniquely defined by this property: Any other density function that satisfies it must be the PHD.