Generalizations to the track-oriented MHT recursion

This paper addresses some aspects of multi-target tracking (MTT) with a specific focus on track-oriented multiple-hypothesis tracking (TO-MHT). First, we address the time-discretization of birth-death statistics, and propose an aggregation approach that is useful in low detection probability settings. A target stationarity assumption is required for use of aggregated statistics as part of the MTT solution. Second, we generalize the TO-MHT recursion to allow for redundant target measurements, and suggest a two-stage processing approach that can exploit the recursion while maintaining computational feasibility.