"Statistics 101" for multisensor, multitarget data fusion

This tutorial summarizes the motivations, concepts, techniques, and applications of finite-set statistics (FISST), a system-level, "top-down" direct generalization of ordinary single-sensor, single-target engineering statistics to the multisensor, multitarget realm. FISST provides powerful new conceptual and computational methods for dealing with multisensor, multitarget, and multi-evidence data fusion problems. The paper begins with a broad-brush overview of the basic concepts of FISST. It describes how conventional single-sensor, single-target formal Bayesian modeling is carefully extended to general data fusion problems. We examine a simple example: joint detection and tracking of a possibly non-existent maneuvering target in heavy clutter. The tutorial concludes with a commentary on certain criticisms of FISST.