Analysis of recycling performance in Poisson multi-Bernoulli mixture filters

In a multi-target tracking (MTT) scenario, the computational cost of usual Poisson multi-Bernoulli mixture (PMBM) filter will rise rapidly as the increasing number of global hypotheses. In order to lower computational cost, this paper presents to apply recycling algorithm to PMBM filter. The proposed method is done by recycling Bernoulli components which are less than a fixed threshold, approximat...