A Poisson Multi-Bernoulli Mixture Filter for Coexisting Point and Extended Targets

  title={A Poisson Multi-Bernoulli Mixture Filter for Coexisting Point and Extended Targets},
  author={'Angel F. Garc'ia-Fern'andez and Jason L. Williams and Lennart Svensson and Yuxuan Xia},
  journal={IEEE Transactions on Signal Processing},
This paper proposes a Poisson multi-Bernoulli mixture (PMBM) filter for coexisting point and extended targets, i.e., for scenarios where there may be simultaneous point and extended targets. The PMBM filter provides a recursion to compute the multi-target filtering posterior based on probabilistic information on data associations, and single-target predictions and updates. In this paper, we first derive the PMBM filter update for a generalised measurement model, which can include measurements… 

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