Seamless group target tracking using random finite sets

In many surveillance applications, target tracking algorithms have to deal with dense group targets in contrast to independently moving and well-separated targets as assumed in most scenarios. An effective strategy to handle such a group of targets is to first track the overall group and then attempt to extract the states of individual targets. Based on the Random Finite Set theory, the τ-Cardinalized Probability Hypothesis Density (τ-CPHD) …