An improved CPHD filter for unknown clutter backgrounds
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The “clutter-agnostic” CPHD filter was introduced at the 2010 SPIE Defense, Security and Sensing Symposium in 2010, and has been investigated in subsequent papers. This “k-CPHD filter” was capable of multitarget detection and tracking in unknown, dynamically changing clutter backgrounds. It was also capable of estimating the entire intensity function of the clutter process. The purpose of this paper is to introduce a generalization of this filter. The generalized k-CPHD filter has the following two major improvements: (1) a formula for the probability distribution on the number of targets (target cardinality distribution); and (2) a formula for the probability distribution of the number of clutter measurements (clutter cardinality distribution). More generally, the entire probability distribution of the clutter process can be estimated.
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Mahler, Ronald (2014)The "background-agnostic" CPHD filter was introduced at the 2010 SPIE Defense, Security and Sensing Symposium in 2010. It is a CPHD filter that is capable of operation when both the clutter background and the target-detection ...
Mahler, Ronald (2014)© 2014 IEEE. In previous publications the author introduced CPHD filters designed to detect and track multiple targets in unknown, dynamically changing clutter backgrounds. The first such filters employed Poisson clutter ...
Mahler, Ronald (2015)© 2015 SPIE. Previous research has produced CPHD filters that can detect and track multiple targets in unknown, dynamically changing clutter. The.first such filters employed Poisson clutter generators and, as a result, ...