Robust Fusion for Multisensor Multiobject Tracking
Claudio Fantacci, Ba‐Ngu Vo, Ba-Tuong Vo, Giorgio Battistelli, Luigi Chisci · IEEE Signal Processing Letters · 2018
This letter proposes analytical expressions for the fusion of certain classes of labeled multiobject densities via Kullback-Leibler averaging. Specifically, we provide analytical fusion rules for the labeled multi-Bernoulli and marginalized δ-generalized labeled multi-Bernoulli families of labeled multiobject densities. Information fusion via Kullback-Leibler averaging ensures immunity to double counting of information and is essential to the development of effective multiagent multiobject estimation.