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arXiv · 2205.14021

Data-driven clustering and Bernoulli merging for the Poisson multi-Bernoulli mixture filter

Marco Fontana·Ángel F. García-Fernández·Simon Maskell
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Abstract

This paper proposes a clustering and merging approach for the Poisson multi-Bernoulli mixture (PMBM) filter to lower its computational complexity and make it suitable for multiple target tracking with a high number of targets. We define a measurement-driven clustering algorithm to reduce the data association problem into several subproblems, and we provide the derivation of the resulting clustered PMBM posterior density via Kullback-Leibler divergence minimisation. Furthermore, we investigate different strategies to reduce the number of single target hypotheses by approximating the posterior via merging and inter-track swapping of Bernoulli components. We evaluate the performance of the proposed algorithm on simulated tracking scenarios with more than one thousand targets.

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Marco Fontana, Ángel F. García-Fernández, Simon Maskell. 2022-05-27. Data-driven clustering and Bernoulli merging for the Poisson multi-Bernoulli mixture filter. https://doi.org/10.1109/taes.2023.3253662

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