The CPHD Filter With Target Spawning

In its classical form, the cardinalized probability hypothesis density (CPHD) filter does not model the appearance of new targets through spawning, yet there are applications for which spawning models more appropriately account for newborn objects when compared to spontaneous birth models. In this paper, we propose a principled derivation of the CPHD filter prediction step including spontaneous birth and spawning. A Gaussian Mixture implementation of the CPHD filter with spawning is then presented, illustrated with three applicable spawning models on a simulated scenario involving two parent targets spawning a total of five objects.