Hybrid Poisson and multi-Bernoulli filters
This work addresses multi-target tracking for applications like surveillance or robotics, presenting an incremental improvement over existing random finite set filters.
The paper tackles the problem of multi-target tracking by combining Poisson and multi-Bernoulli filters, showing that maintaining a Poisson component for undetected targets improves track initiation speed and that recycling low-probability Bernoulli components reduces the number of tracks needed while achieving similar performance.
The probability hypothesis density (PHD) and multi-target multi-Bernoulli (MeMBer) filters are two leading algorithms that have emerged from random finite sets (RFS). In this paper we study a method which combines these two approaches. Our work is motivated by a sister paper, which proves that the full Bayes RFS filter naturally incorporates a Poisson component representing targets that have never been detected, and a linear combination of multi-Bernoulli components representing targets under track. Here we demonstrate the benefit (in speed of track initiation) that maintenance of a Poisson component of undetected targets provides. Subsequently, we propose a method of recycling, which projects Bernoulli components with a low probability of existence onto the Poisson component (as opposed to deleting them). We show that this allows us to achieve similar tracking performance using a fraction of the number of Bernoulli components (i.e., tracks).