Bayesian target tracking after group pattern distortion
Neil Gordon, David J. Salmond, David J. Fisher · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1997
A standard assumption of most multiple target tracking filters is that all the targets move independently of one another. However, in many cases, it is known a-priori that the targets move (at least approximately) as a group: this dependency should not be ignored. In this paper we describe an approach to multiple target tracking where the target dynamics are taken to be the superposition of a group effect which is common to all group members and an individual effect which is taken to be independent between members of the group. The method also allows for the presence of clutter and missed target detections. This is done by embedding the dependent target motion model within a multiple hypothesis framework. A closed form solution is derived for the special linear-Gaussian case and simulation results illustrating performance are presented. This paper is a recursive extension of the selection method presented at last year's conference.