The probability hypothesis density (PHD) and cardinalized PHD (CPHD) filters were introduced in 2000 and 2006, respectively, as approximations of the full multitarget Bayes detection and tracking filter. Both filters are based on the "standard" multitarget measurement model that underlies most multitarget tracking theory - namely, that sensor measurements are detections. Other sensors, however, collect measurements that are not detections. This paper describes the extensions of the CPHD filter concept to a nonstandard bearing-only sensor model proposed by Vihola.

Date Published: 6 May 2008
PDF: 12 pages
Proc. SPIE 6968, Signal Processing, Sensor Fusion, and Target Recognition XVII, 69680N (6 May 2008); doi: 10.1117/12.778107

Published in SPIE Proceedings Vol. 6968:
Signal Processing, Sensor Fusion, and Target Recognition XVII
Ivan Kadar, Editor(s)