Multi-target tracking using a PHD-based joint tracking and classification algorithm

Abstract

When using Bayesian estimation techniques for target tracking, the algorithm accuracy is induced by the choice of the system evolution model. Information on the type of target and its maneuver capability can then be helpful to choose relevant motion models. Joint tracking and classification (JTC) methods based on target features have thus been introduced. Among them, we recently proposed to take into account the target extent measurements for single-target tracking. In this paper, we extend this work to multi-target tracking (MTT) by using probability hypothesis density (PHD) filters. More precisely, assuming that each target class is characterized by its own kinematic-model set, a multiple-model (MM) PHD filter is used for each class. State estimates from each class are then combined by using class probabilities. Finally, the proposed approach, namely a multiclass MM-GMPHD, is applied to maritime-target tracking and simulation results show the relevance of the proposed approach regarding the tracking of various types of targets.