Abstract
The labeled random finite set (LRFS) theory of B.-T. Vo and B.-N. Vo is the first systematic, theoretically rigorous formulation of true multitarget tracking, and is the basis for the generalized labeled multi-Bernoulli (GLMB) filter (the first implementable and provably Bayes-optimal multitarget tracking algorithm). Several of the author’s earlier papers investigated Bayes filters that propagate the correlations between two unlabeled evolving multitarget systems—but with limited success. In this paper we provide a theoretically rigorous and much more general approach, by devising a GLMB filter that propagates the correlations between two evolving labeled multitarget systems.
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