A study on multitarget tracking with adaptive local linearisation particle filters

Over the last decade much research has been conducted on exploiting particle filtering techniques in the field of target tracking. Although the major body of the work in that area concerns tracking a single target, algorithms have also been proposed for the multiple target case. In most multitarget algorithms the state estimator is a basic particle filter (e.g. a sequential importance resampling filter) used in a complex multitarget structure. The contribution of this paper is the use of the more powerful local linearisation particle filter as the basic estimation tool, for the multitarget problem