Generalized fusion of heterogeneous sensor measurements for multi target tracking

In this contribution, a multi sensor fusion system for multi target tracking is proposed which is independent of the properties of the attached sensor. This system therefore supports attaching different sensors without the need for any adaption of the system. A previously published approach for such a sensor independent fusion system based on probabilistic models is examined. An extension of the fusion algorithm is presented, which greatly enhances both the state and existence estimation.