The Spline Multi-Target Multi-Bernoulli Filter

Abstract

A B-Spline implementation of the multi-target multi-Bernoulli (MeMBer) filter for nonlinear Gaussian/non-Gaussian models is proposed. Specifically, the spatial PDF (SPDF) of each Bernoulli component in the MeMBer density is represented by a B-Spline curve, which is characterized by the spline knots and control points. The spline knots and control points are then propagated via prediction and update steps of the MeMBer filter. Besides, a revised fitting algorithm is proposed so as to improve the implementation efficiency. The effectiveness of the proposed method is assessed via simulation experiments.