Undetected target births in multiple-hypothesis tracking

This paper introduces a generalization of the multiple-hypothesis tracking (MHT) formalism for multi-target tracking (MTT). To our knowledge, MHT treatments in the literature do not consider undetected target birth events. Their inclusion leads to an interesting extension to the MHT recursion, and necessitates aggregation over indistinguishable global hypotheses. We show that the MHT recursion factors, enabling track-oriented MHT (TO-MHT), albeit with clusters of indistinguishable undetected births. The treatment requires a distinction between those targets that are eventually detected (we call these unnoticed targets) and those that are never detected (we call these ghost targets). The same number of relevant track hypotheses result as in the classical TO-MHT solution. In the time-invariant case, the solution simplifies further.