Multi-target tracking in clutter without measurement assignment

Abstract

This paper presents a new approach for multitarget tracking in a cluttered environment. Optimal all neighbour multi-target tracking (MTT) in clutter enumerates all possible joint measurement-to-target assignments and calculates the a posteriori probabilities of each of these joint assignments, e.g. J(I)PDA and MHT. The numerical complexity of this process is exponential in the number of tracks and the number of measurements involved. Our approach starts with an all-neighbour single-target tracking (STT) filter which provides the a priori probabilities of measurement origin; e.g. IPDA, IMM-PDA, ITS. These probabilities are used to modify the clutter density at the location of the selected measurements. In effect, the STT filter is transformed into a MTT filter with a numerical complexity which is linear in the number of tracks and the number of measurements. Measurement features, such as amplitude, can also be incorporated. Simulations are used to verify the approach when tracking crossing targets in an environment of heavy and non-uniform clutter.