The mixed labeling problem in multi target particle filtering

In this paper the so called mixed labeling problem inherent, or at least thought to be inherent to a joint state multi target particle filter implementation is treated. The mixed labeling problem would be prohibitive for track extraction from a joint state multi target particle filter. It is shown and proven using the theory of Markov chains, that the mixed labeling problem is inherently self-resolving in a particle filter. It is also shown that the factors influencing this capability are the number of particles and the number of resampling steps.