The Multiple Model CPHD Tracker

The probability hypothesis density (PHD) is a practical approximation to the full Bayesian multi-target filter. The cardinalized PHD (CPHD) filter was proposed to deal with the “target death” problem of the PHD filter. A multiple-model PHD exists; in this work, a multiple model version of the considerably more complex CPHD filter is derived. It is implemented using Gaussian mixtures, and a track management (for display and scoring) strategy is developed.