Histogram-PMHT with an evolving Poisson prior

The Histogram-Probabilistic Multi-Hypothesis Tracker (H-PMHT) is an efficient multi-target tracking approach to the Track-Before-Detect (TkBD) problem. However, it cannot adequately deal with fluctuating targets and this can degrade track management performance. By assuming an alternative measurement model based on a Poisson distribution, the H-PMHT algorithm can be re-derived to incorporate a time-correlated estimate of the component mixing terms, allowing for an improved measure for track quality.