Target existence based MHT

Abstract

In a cluttered environment, measurements originate not only from the objects being tracked, but also fro"m spurious sources. The number of existing objects (targets) to be tracked is also unknown. The Multi-Hypotheses Tracking (MHT) filter is generally considered to be the "optimal nscan target tracking filter in such a multi-target cluttered environment. This paper introduces a new MHT filter based on the target existence. The probability that a target exists is estimated, and the estimate of the target kinematic state is subsequently conditioned on target existence. False track discrimination uses the probability of target existence as the track quality measure. This approach simplifies th..