Robust Fusion for Multisensor Multiobject Tracking

Abstract

This letter proposes analytical expressions for the fusion of certain classes of labeled multiobject densities via Kullback-Leibler averaging. Specifically, we provide analytical fusion rules for the labeled multi-Bernoulli and marginalized δ-generalized labeled multi-Bernoulli families of labeled multiobject densities. Information fusion via Kullback-Leibler averaging ensures immunity to double counting of information and is essential to the development of effective multiagent multiobject estimation.