Multi-target tracking for measurement models with additive contributions

Moment-based filters, such as the Probability Hypothesis Density (PHD) filter, are an attractive solution to multi-target tracking. However, an underlying assumption for the PHD filter is that each measurement is either caused by a single target or clutter. In this paper, we design a novel moment-based multi-target filter, the Additive Likelihood Moment (ALM) filter, where the measurements are affected by all targets. We focus on the cases where the likelihood can be expressed as a function of the sum of the individual target contributions. As an example, we consider radio tomographic tracking where the attenuation of the signal between a pair of sensors is the sum of attenuations caused by all targets. Our multi-target tracking algorithm is based on a particle approximation of our moment-based filter. Our simulations show that our algorithm has a lower estimation error than MCMC particle methods while achieving 80% savings in terms of computational time.

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