PMBM Filter for Multiple Extended Targets With Unknown Clutter Rate and Detection Probability

In a multitarget tracking (MTT) scenario, the prior knowledge of parameters such as clutter rate and detection probability are usually uncertain or estimated offline from training data. However, significant parameters mismatch in the clutter and detection model will result in biased estimates. In such cases, the ability to adaptively online estimate clutter rate and detection probability is critical in MTT under the random finite sets (RFS) framework. In this article, we propose a robust Poisson multi-Bernoulli mixture (PMBM) filter that can accommodate model mismatch in clutter rate and detection probability for multiple extended target tracking (ETT) problems. Moreover, the closed-form solution to the proposed method is derived by the use of Beta and Gamma Gaussian inverse-Wishart (GGIW) distribution, where Beta is used to describe unknown detection probability and GGIW is used to model extended target extension as an ellipse. Simulation results are presented to verify the effectiveness of the proposed method.