A Multisensor Multi-Bernoulli Filter

Augustin-Alexandru Saucan, Mark J. Coates, Michael G. Rabbat

Abstract: In this paper, we derive a multisensor multi-Bernoulli (MS-MeMBer) filter for multitarget tracking. Measurements from multiple sensors are employed by the proposed filter to update a set of tracks modeled as a multi-Bernoulli random finite set. An exact implementation of the MS-MeMBer update procedure is computationally intractable. We propose an efficient approximate implementation by using a greedy measurement partitioning mechanism. The proposed filter allows for Gaussian mixture or particle filter implementations. Numerical simulations conducted for both linear-Gaussian and nonlinear models highlight the improved accuracy of the MS-MeMBer filter and its reduced computational load with respect to the multisensor cardinalized probability hypothesis density filter and the iterated-corrector cardinality-balanced multi-Bernoulli filter especially for low probabilities of detection.