PHD filtering in known target-dependent clutter
Ronald Mahler, Adel I. El-Fallah · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2010
This paper generalizes the PHD filter to the case of target-dependent clutter. It is assumed that a distinct a priori Poisson clutter process is associated with each target. Multitarget calculus techniques are used to derive formulas for the measurement-update step. These formulas require combinatorial sums over all partitions of the current measurement-set. Further research is required to address the resulting computational issues.