Multitarget-moment filters for nonstandard measurement models
Ronald Mahler · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2008
The probability hypothesis density (PHD) and cardinalized PHD (CPHD) filters were introduced in 2000 and 2006, respectively, as approximations of the full multitarget Bayes detection and tracking filter. Both filters are based on the "standard" multitarget measurement model that underlies most multitarget tracking theory - namely, that sensor measurements are detections. Other sensors, however, collect measurements that are not detections. This paper describes the extensions of the CPHD filter concept to a nonstandard bearing-only sensor model proposed by Vihola.