Hybrid intensity and likelihood ratio tracking (iLRT) filter for multitarget detection

A particle version of a PHD / Intensity filter is coupled with a cumulative log-likelihood ratio (CLLR) detector to enable multiple target detection and track extraction. The filter provides each particle with a path history, or target trajectory. The CLLR evaluated for such a particle path is the quickest possible detector of target presence on the path. This hybrid approach is useful because track extraction methods based on the CLLR for the particle paths are grounded in an optimal target detection statistic, not merely on the relative abundance of particles that represent the output of the PHD / Intensity filter. The utility of the hybrid intensity and likelihood ratio tracking (iLRT) filter approach is demonstrated by example.