Gaussian mixture tracking: MHT and ITS comparison

Abstract

A Gaussian Mixture (GM) target tracking solution is a natural consequence of the multi-target tracking in clutter, given a linear target trajectory propagation and a linear target measurement equation. We examine and compare two prominent GM target trackers: the Multi Hypothesis Tracking (MHT) and the Integrated Track Splitting. Both incorporate the false track discrimination capabilities, enabling automatic target tracking in the presence of clutter measurements and missed detections.