Multi -Target Joint Detection, Tracking and Classification with Merged Measurements Using Generalized Labeled Multi-Bernoulli Filter

In real world multiple extended target tracking problems, the presence of merged measurements is a frequently occurring phenomenon, however, most existing tracking algorithms in the literature assume that each target generates independent measurements. When this measurement merging phenomenon occurs, it increases the computational complexity of the tracking algorithms. Recently, the conditional joint decision and estimation (CJDE) algorithm based on the generalized Bayes risk was proposed to solve problems of joint detection, tracking and classification (JDTC) of targets. In this paper, we develop a principled Bayesian solution to the important problem involving inter-dependent decision and estimation conditioned on data based on the theory of random finite sets (RFS), and a tractable implementation based on the recently proposed generalized labeled multi-Bernoulli (GLMB) filter. The performance of the proposed technique is demonstrated by simulation of a multi-target bearings-only tracking scenario, where measurements become merged due to finite resolution effects.