Multiple target, multiple type filtering in the RFS framework

Nathanael L. Baisa, Andrew Wallace

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


A Multiple Target, Multiple Type Filtering (MTMTF) algorithm is developed using Random Finite Set (RFS) theory. First, we extend the standard Probability Hypothesis Density (PHD) filter for multiple types of targets, each with distinct detection properties, to develop a multiple target, multiple type filtering, N-type PHD filter, where , for handling confusions among target types. In this approach, we assume that there will be confusions between detections, i.e. clutter arises not just from background false positives, but also from target confusions. Then, under the assumptions of Gaussianity and linearity, we extend the Gaussian mixture (GM) implementation of the standard PHD filter for the proposed N-type PHD filter termed the N-type GM-PHD filter. Furthermore, we analyze the results from simulations to track sixteen targets of four different types using a four-type (quad) GM-PHD filter as a typical example and compare it with four independent GM-PHD filters using the Optimal Subpattern Assignment (OSPA) metric. This shows the improved performance of our strategy that accounts for target confusions by efficiently discriminating them.1
Original languageEnglish
Pages (from-to)49-59
Number of pages11
JournalDigital Signal Processing
Early online date15 Mar 2019
Publication statusPublished - Jun 2019


  • Gaussian mixture
  • Multiple target filtering
  • N-type PHD filter
  • OSPA metric
  • Random finite set

ASJC Scopus subject areas

  • Signal Processing
  • Electrical and Electronic Engineering


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