Multiple-Hypothesis Group Tracking

This paper generalizes the track-oriented multiple-hypothesis formalism to consider a time-varying number of groups, each composed of a time-varying number of targets. Additionally, the paper develops a tractable multi-stage tracking approach that performs target-level tracking under suitable statistics in the first stage, followed by group-level tracking under the generalized recursion in the second stage. Our approach is relevant to group tracking problems, with the restriction that objects do not change from one group to another. It is also relevant to repeated-measurement problems for extended targets.