A CPHD Filter for Tracking With Spawning Models

  title={A CPHD Filter for Tracking With Spawning Models},
  author={Malin Lundgren and Lennart Svensson and Lars Hammarstrand},
  journal={IEEE Journal of Selected Topics in Signal Processing},
In some applications of multi-target tracking, appearing targets are suitably modeled as spawning from existing targets. However, in the original formulation of the cardinalized probability hypothesis density (CPHD) filter, this type of model is not supported; instead appearing targets are modeled by spontaneous birth only. In this paper we derive the necessary equations for a CPHD filter for the case when the process model also includes target spawning. For this generalized filter, the… CONTINUE READING