Multi-Bernoulli Filter for Group Object Tracking and Its Gaussian-Wishart Implementation

The problem of multiple group object tracking is a challenging one and has been extensively researched during the last two decades. The problem solution, proposed in this article, is an extension of the well known multi-Bernoulli filter. The model is first formulated generally, then the linear Gaussian-Wishart implementation is proposed. Contrary to many known methods, which track either individual targets or groups, the proposed filter tracks individual objects and combines them into group tracks. The experiments on simulated data have shown a sustainable ability of the method to track group objects.