Consensus CPHD Filter for Distributed Multitarget Tracking
Giorgio Battistelli, Luigi Chisci, Claudio Fantacci, Alfonso Maria Farina, A. Graziano · IEEE Journal of Selected Topics in Signal Processing · 2013
The paper addresses distributed multitarget tracking over a network of heterogeneous and geographically dispersed nodes with sensing, communication and processing capabilities. The contribution has been to develop a novel consensus Gaussian Mixture-Cardinalized Probability Hypothesis Density (GM-CPHD) filter that provides a fully distributed, scalable and computationally efficient solution to the problem. The effectiveness of the proposed approach is demonstrated via simulation experiments on realistic scenarios.