Kernel-Based Ensemble Gaussian Mixture Probability Hypothesis Density Filter

In this work, a kernel-based Ensemble Gaussian Mixture Probability Hypothesis Density (EnGM-PHD) filter is presented for multi-target filtering applications. The EnGMPHD filter combines the Gaussian-mixture-based techniques of the Gaussian Mixture Probability Hypothesis Density (GMPHD) filter with the particle-based techniques of the Sequential Monte Carlo Probability Hypothesis Density (SMC-PHD) filter. It achieves this by obtaining particles from the posterior intensity function, propagating them through the system dynamics, and then using Kernel Density Estimation (KDE) techniques to approximate the Gaussian mixture of the prior intensity function. This approach guarantees convergence to the true intensity function in the limit of the number of components. Moreover, in the special case of a single target with no births, deaths, clutter, and perfect detection probability, the EnGM-PHD filter reduces to the standard Ensemble Gaussian Mixture Filter (EnGMF). In the presented experiment, the results indicate that the EnGMPHD filter achieves better multi-target filtering performance than both the GM-PHD and SMC-PHD filters while using the same number of components or particles.