Gaussian mixture cardinalized PHD filter for ground moving target tracking

The cardinalized probability hypothesis density (CPHD) filter is a recursive Bayesian algorithm for estimating multiple target states with varying target number in clutter. In particular, the Gaussian mixture variant (GMCPHD) for linear, Gaussian systems is a candidate for real time multi target tracking. The present work addresses the following three issues: (i) we show the equivalence between the GMCPHD filter and the standard Multi Hypothesis Tracker (MHT) in the case of single targets; (ii) using a Gaussian sum approach, we extend the GMCPHD filter by employing digital road maps for road constraint targets. The utilization of such external information leads to more precise tracks and faster and more reliable target number estimates; (iii) we model the effect of Doppler blindness by a target state dependent detection probability, leading to more stable target number estimation in the case of low Doppler targets.