Labeled Multi-object Tracking Algorithms for Generic Observation Model

In this paper, we are devoted to the labeled multi-object tracking problem for generic observation model (GOM) in the framework of Finite set statistics. Firstly, we derive a product-labeled multi-object (P-LMO) filter which is a closed form solution to labeled multi-object Bayesian filter under the standard multi-object transition kernel and generic multi-object likelihood, and thus can be used as the performance benchmark in labeled multi-object tracking. Secondly, we propose a generalization of LMB filter, named LMB filter for GOM by approximating the full multi-object density as a class of LMB density preserving its labeled first order moment. The LMB-GOM filter can be seen as a principled approximation of P-LMO filter, which not only inherits the advantages of the multi-Bernoulli filter for image data with the intuitive mathematical structure of multi-Bernoulli RFS, but also the accuracy of P-LMO filter with less computation burden. In numerical experiments, the performance of the proposed algorithms are verified in typical tracking scenarios.