BAYESIAN MULTI-TARGET TRACKING WITH SUPERPOSITIONAL MEASUREMENTS USING LABELED RANDOM FINITE SETS

In this paper we present a general solution for multi-target tracking problems with superpositional measurements. In a superpositional sensor model, the measurement collected by the sensor at each time step is a superposition of measurements generated by each of the targets present in the surveillance area. We use the Bayes multi-target filter with Labeled Random Finite Set (RFS) in order to jointly estimate the number of targets and their trajectories. We propose an implementation of this filter using Sequential Monte Carlo (SMC) methods with an efficient multi-target sampling strategy based on the Approximate Superpositional Cardinalized Probability Hypothesis Density (CPHD) filter.