A Moving Window Based Approach to Multi-scan Multi-Target Tracking

Abstract

Multi-target state estimation refers to estimating the number of targets and their trajectories in a surveillance area using measurements contaminated with noise and clutter. In the Bayesian paradigm, the most common approach to multi-target estimation is by recursively propagating the multi-target filtering density, updating it with current measurements set at each timestep. In comparison, multi-target smoothing uses all measurements up to current timestep and recursively propagates the entire history of multi-target state using the multi-target posterior density. The recent Generalized Labeled Multi-Bernoulli (GLMB) smoother is an analytic recursion that propagate the labeled multi-object posterior by recursively updating labels to measurement association maps from the beginning to current timestep. In this paper, we propose a moving window based solution for multi-target tracking using the GLMB smoother, so that only those association maps in a window (consisting of latest maps) get updated, resulting in an efficient approximate solution suitable for practical implementations.