Multitarget Multisensor Tracking Problems. Part 1. A General Solution and a Unified View on Bayesian Approaches

摘要

Based upon a general target sensor model which allows dependence among targets and state-dependent target detection, a Bayesian solution to the multitarget tracking problem is derived. When this solution is applied to a special class of models, a less general but more implementationally feasible class of algorithms is obtained. Representative existing algorithms are then compared with our results. Doing so provides a unified view on Bayesian approaches to the multitarget tracking problem. Part I covers most of the analytical results, while in Part II, hypothesis management and other issues pertaining to implementation of multitarget algorithms are discussed with several examples. (jd/rh)