Multi-object Tracking in Unknown Detection Probability with the PMBM Filter

Abstract

This paper focuses on the joint multi-object tracking (MOT) and the estimate of detection probability with the \emph{Poisson multi-Bernoulli mixture} (PMBM) filter. In a majority of multi-object scenarios, the knowledge of detection probability is usually uncertain, which is often estimated offline from the training data. In such cases, online filtering is not allowed or believable, otherwise, significate parameter mismatch will result in biased estimates (state and cardinality of objects). Consequently, the ability of adaptively estimating the detection probability is essential in practice. In this paper, we detail how the detection probability can be estimated accompanied with the state estimates. Besides, closed-form solutions to the proposed method are derived by approximating the intensity of Poisson random finite set (RFS) to a Beta-Gaussian mixture form and density of Bernoulli RFS to a single Beta-Gaussian form. Simulation results show the effectiveness and superiority of the proposed method.