A Generalized Labeled Multi-Bernoulli Filter with Object Spawning

Abstract

Previous labeled random finite set filter developments use a motion model that only accounts for survival and birth. While such a model provides the means for a multi-object tracking filter such as the Generalized Labeled Multi-Bernoulli (GLMB) filter to capture object births and deaths in a wide variety of applications, it lacks the capability to capture spawned tracks and their lineages. In this paper, we propose a new GLMB based filter that formally incorporates spawning, in addition to birth. This formulation enables the joint estimation of a spawned object's state and information regarding its lineage. Simulations results demonstrate the efficacy of the proposed formulation.