Convergence analysis of the Gaussian mixture PHD filter

The Gaussian mixture probability hypothesis density (PHD) filter was proposed recently for jointly estimating the time-varying number of targets and their states from a sequence of sets of observations without the need for measurement-to-track data association. It was shown that, under linear-Gaussian assumptions, the posterior intensity at any point in time is a Gaussian mixture. This paper proves uniform convergence of the errors in the algorithm and provides error bounds for the pruning and merging stages. In addition, uniform convergence results for the extended Kalman PHD Filter are given, and the unscented Kalman PHD Filter implementation is discussed. © 2007 IEEE.