Interactive Multiple-Target Tracking via Labeled Multi-Bernoulli Filters

Abstract

In many cases, the multi-Target tracking system is essential for realizing the current state of an environment. The standard multi-Target tracking algorithms assume that each target state evolves independently and regardless of other targets' states. However, in a real scenario this assumption does not hold in that the motion of any target is dependent on other targets. This paper proposes a new mathematical solution for multi-Target tracking system with interacting targets. In the proposed method the prediction operation of the labeled multi-Bernoulli filter is extended to incorporate all possible interactions between targets. The results show that in scenarios where the assumption of a standard motion model is violated, the proposed method achieves higher accuracy for the state estimation of the targets. Also, it shows better performance for estimating the identity of the targets.