The Labeled Multi-Bernoulli Filter

Abstract

This paper proposes a generalization of the multi- Bernoulli filter called the labeled multi-Bernoulli filter that outputs target tracks. Moreover, the labeled multi-Bernoulli filter does not exhibit a cardinality bias due to a more accurate update approximation compared to the multi-Bernoulli filter by exploiting the conjugate prior form for labeled Random Finite Sets. The proposed filter can be interpreted as an efficient approximation of the δ-Generalized Labeled Multi-Bernoulli filter. It inherits the advantages of the multi-Bernoulli filter in regards to particle implementation and state estimation. It also inherits advantages of the δ-Generalized Labeled Multi-Bernoulli filter in that it outputs (labeled) target tracks and achieves better performance.