Poisson Multi-Bernoulli Mixture Conjugate Prior for Multiple Extended Target Filtering
Poisson Multi-Bernoulli Mixture Conjugate Prior for Multiple Extended Target Filtering
This paper presents a Poisson multi-Bernoulli mixture (PMBM) conjugate prior for multiple extended object filtering. A Poisson point process is used to describe the existence of yet undetected targets, while a multi-Bernoulli mixture describes the distribution of the targets that have been detected. The prediction and update equations are presented …