An Efficient Labeled/Unlabeled Random Finite Set Algorithm for Multiobject Tracking

We propose an efficient random finite set (RFS) based algorithm for multiobject tracking in which the object states are modeled by a combination of a labeled multi-Bernoulli (LMB) RFS and a Poisson RFS. The less computationally demanding Poisson part of the algorithm is used to track potential objects whose existence is unlikely. Only if a quantity characterizing the plausibility of object existence is above a threshold, a new labeled Bernoulli component is created and the object is tracked by the more accurate but more computationally demanding LMB part of the algorithm. Conversely, a labeled Bernoulli component is transferred back to the Poisson RFS if the corresponding existence probability falls below another threshold. Contrary to existing hybrid algorithms based on multi-Bernoulli and Poisson RFSs, the proposed method facilitates track continuity and implements complexity-reducing features. Simulation results demonstrate a large complexity reduction relative to other RFS-based algorithms with comparable performance.