Consensus Labeled Random Finite Set Filtering for Distributed Multi-Object Tracking

Abstract

This paper addresses distributed multi-object tracking over a network of heterogeneous and geographically dispersed nodes with sensing, communication and processing capabilities. The main contribution is an approach to distributed multi-object estimation based on labeled Random Finite Sets (RFSs) and dynamic Bayesian inference, which enables the development of two novel consensus tracking filters, namely a Consensus Marginalized $δ$-Generalized Labeled Multi-Bernoulli and Consensus Labeled Multi-Bernoulli tracking filter. The proposed algorithms provide fully distributed, scalable and computationally efficient solutions for multi-object tracking. Simulation experiments via Gaussian mixture implementations confirm the effectiveness of the proposed approach on challenging scenarios.