Box-Particle Labeled Multi-Bernoulli Filter for Mltiple Extended Target Tracking

Abstract

This paper focuses on real-time tracking of multiple extended targets in clutter based on labeled multi- Bernoulli filter. To address this problem, a novel approach is proposed within the recently presented box-particle framework. Unlike the traditional point-particle approach, the measurements of extended targets are modeled as in- terval measurements in this work, and the corresponding likelihood function is given based on interval analysis. Then, labeled multi-Bernoulli recursion for extended targets is implemented by box particles, referred to as BP-LMB filter. Furthermore, BP-MM-LMB filter is pro- posed to better accommodate the uncertainty of target dynamics by integrating the BP-LMB filter with interacting multiple models (IMM) algorithm. Simulations demon- strate that the proposed approach can significantly reduce the number of particles and well track multiple extended targets with less runtime.