Novel data association schemes for the probability hypothesis density filter

Abstract

The probability hypothesis density (PHD) filter is a practical alternative to the optimal Bayesian multi-target Alter based on finite set statistics. It propagates the PHD function, a first-order moment of the full multi-target posterior density. The peaks of the PHD function give estimates of target states. However, the PHD filter keeps no record of target identities and hence does not produce track-valued estimates of individual targets. We propose two different schemes according to which PHD filter can provide track-valued estimates of individual targets. Both schemes use the probabilistic data-association functionality albeit in different ways. In the first scheme, the outputs of the PHD filter are partitioned into tracks by performing track-to-estimate association. The second scheme uses the PHD filter as a clutter filter to eliminate some of the clutter from the measurement set before it is subjected to existing data association techniques. In both schemes, the PHD filter effectively reduces the size of the data that would be subject to data association. We consider the use of multiple hypothesis tracking (MHT) for the purpose of data association. The performance of the proposed schemes are discussed and compared with that of MHT.