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Consensus CPHD Filter for Distributed Multitarget Tracking

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5 Author(s)
Battistelli, G. ; Dipt. di Ing. dell'Inf., Univ. di Firenze, Florence, Italy ; Chisci, L. ; Fantacci, C. ; Farina, A.
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The paper addresses distributed multitarget tracking over a network of heterogeneous and geographically dispersed nodes with sensing, communication and processing capabilities. The contribution has been to develop a novel consensus Gaussian Mixture-Cardinalized Probability Hypothesis Density (GM-CPHD) filter that provides a fully distributed, scalable and computationally efficient solution to the problem. The effectiveness of the proposed approach is demonstrated via simulation experiments on realistic scenarios.

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Selected Topics in Signal Processing, IEEE Journal of  (Volume:7 ,  Issue: 3 )