Explicit filtering equations for labelled random finite sets

Garcia-Fernandez, Angel F ORCID: 0000-0002-6471-8455 and Morelande, Mark R (2015) Explicit filtering equations for labelled random finite sets. In: 2015 International Conference on Control, Automation and Information Sciences (ICCAIS), 2015-10-29 - 2015-10-31.

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Official URL: http://dx.doi.org/10.1109/iccais.2015.7338691

Abstract

We decompose a probability density function (PDF) of a labelled random finite set (RFS) into a probability mass function over a set of labels and a PDF on a vector-valued multitarget state given the labels. Using this decomposition, we write the Bayesian filtering recursion for labelled RFSs in an explicit form. The resulting formulas are of conceptual and practical interest in the RFS approach to multiple target tracking, especially, for track-before-detect particle filter implementations.

Item Type:	Conference or Workshop Item (Unspecified)
Uncontrolled Keywords:	labelled random finite sets, multitarget tracking, set integral, conditional PDF
Depositing User:	Symplectic Admin
Date Deposited:	27 Nov 2020 08:31
Last Modified:	18 Jan 2023 23:20
DOI:	10.1109/iccais.2015.7338691
Related URLs:	Author Publisher
URI:	https://livrepository.liverpool.ac.uk/id/eprint/3108382