A distributed general multi-sensor cardinalized probability hypothesis density (CPHD) filter for sensor networks
Syamantak Datta Gupta, Santosh Nannuru, Mark Coates, Michael Rabbat · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2015
We develop a distributed cardinalized probability hypothesis density (CPHD) filter that can be deployed in a sensor network to process the measurements of multiple sensors that make conditionally independent measurements. In contrast to the majority of the related work, which involves performing local filter updates and then exchanging data to fuse the local intensity functions and cardinality distributions, we strive to approximate the update step that a centralized multi-sensor CPHD filter would perform.