A Multi-Scan Mixture Particle Filter for Joint Detection and Tracking of Multiple Targets

In this paper, a novel algorithm named multi-scan mixture particle filter is proposed for joint detection and tracking for a varying number of targets. The posterior distribution of multiple target state in a single-target state space is a multi-mode distribution with each mode corresponding to either a target or clutter. A general global posterior distribution is adopted in this work, which consists of existing components and new components. The new components are generated at each time step to capture the new modes due to newly appeared targets or clutter. In order to distinguish targets from clutter, multiple scan information is incorporated. The history of each component's associate weights is stored in a multi-scan sliding window, which is used to judge whether the component is from a target or clutter. Moreover, a novel sampling method which combines the likelihood sampling and prior sampling is proposed to draw particles from the desired parts of the state space at each time step. From the simulation results, it could be seen that the proposed algorithm can effectively detect the appearance/disappearance of the targets as well as track the existing target.