Diver tracking in unknown structured clutter background using a force-based GM-PHD filter

This paper considers the problem of tracking multiple human divers using a high-resolution 2D active sonar. The proposed solution can handle the real-world challenges of a time-varying number of targets, complex correlated diver dynamics affected by external factors (e.g., water current, activities of neighbouring divers and the intent of the divers themselves), and unknown spatial non-homogeneous clutter intensity due to the complex …