Abstract
A algorithm based on random sets and point process theory is proposed for jointly estimate the time-varying number of targets and their states.The main contributions include:(1) Analyze multi-target tracking model based on random finite sets;(2) The Probability Hypothesis Density recursive formulas are deduced based on random sets and point process theory;(3) A analytic implementation of the Probability Hypothesis Density Filter is proposed under the linear Gaussian assumptions;(4) Two simulation results validate GMPHD performance and then compare GMPHD and JPDA performance under clutter and detection probability change;(5) Point out some the algorithm's lack and research direction.
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