The multiple hypothesis tracker derived from finite set statistics
Edmund Brekke, Mandar Anil Chitre · 2017
The multiple hypothesis tracker (MHT) has historically been considered a gold standard for multi-target tracking. In this paper we show that the key formula for hypothesis probabilities in Reid's MHT can be derived from the modern theory of finite set statistics (FISST) insofar as appropriate assumptions (Poisson models for clutter and undetected targets, no target-death, linear-Gaussian Markov target kinematics) are adhered to.