A Generalized Labeled Multi-Bernoulli Filter with Object Spawning
Computation
2018-11-14 v2
Abstract
Previous labeled random finite set filter developments use a motion model that only accounts for survival and birth. While such a model provides the means for a multi-object tracking filter such as the Generalized Labeled Multi-Bernoulli (GLMB) filter to capture object births and deaths in a wide variety of applications, it lacks the capability to capture spawned tracks and their lineages. In this paper, we propose a new GLMB based filter that formally incorporates spawning, in addition to birth. This formulation enables the joint estimation of a spawned object's state and information regarding its lineage. Simulations results demonstrate the efficacy of the proposed formulation.
Cite
@article{arxiv.1705.01614,
title = {A Generalized Labeled Multi-Bernoulli Filter with Object Spawning},
author = {Daniel S. Bryant and Ba Tuong Vo and Ba Ngu Vo and Brandon A. Jones},
journal= {arXiv preprint arXiv:1705.01614},
year = {2018}
}