Multi-Sensor Multi-Object Tracking with the Generalized Labeled Multi-Bernoulli Filter

Abstract

This paper proposes an efficient implementation of the multi-sensor generalized labeled multi-Bernoulli (GLMB) filter. Like its single-sensor counterpart, such implementation requires truncating the GLMB sum. However the single-sensor case requires solving 2-D ranked assignment problems whereas the multi-sensor case require solving multi-dimensional ranked assignment problems, which are NP-hard. The proposed implementation exploits the GLMB joint prediction and update together with a new technique for truncating the GLMB filtering density based on Gibbs sampling. The resulting algorithm has a quadratic complexity in the number of hypothesized objects and linear in the total number of measurements from all sensors.