A Fast Labeled Multi-Bernoulli Filter Using Belief Propagation
Thomas Kropfreiter, Florian Meyer, Franz Hlawatsch · IEEE Transactions on Aerospace and Electronic Systems · 2019
We propose a fast labeled multi-Bernoulli (LMB) filter that uses belief propagation for probabilistic data association. The complexity of our filter scales only linearly in the numbers of Bernoulli components and measurements, while the performance is comparable to or better than that of the Gibbs sampler-based LMB filter.