Track management and PMHT

PMHT algorithm, as proposed, promises high performance multi target tracking in clutter with (relatively) modest computational resources. However, when applied to practical target tracking situations, a number of problems need to be overcome. PMHT assumes fixed number of tracks, and furthermore it assumes that all tracks are true tracks. No track quality measure is provided within PMHT to enable false track discrimination. In this paper we add the probability of target existence to PMHT processing, and accommodate a variable number of tracks.