Multi-Bernoulli smoother for multi-target tracking

Multi-target tracking is an important research topic in the field of aerospace. In this paper, a multi-Bernoulli smoother, which consists of forward filtering followed by backward smoothing, is proposed for multi-target tracking. The forward filtering is accomplished by the cardinality-balanced multi-target multi-Bernoulli (CBMeMBer) filter. For the backward smoothing, the smoothed multi-target probability density is approximated by a multi-Bernoulli density, whose backward recursion is derived by using finite set statistics. To solve the computational problem of multiple integrals in the smoother, a sequential Monte Carlo method is also proposed. Experimental results show that the proposed smoother improves the estimation accuracy of target number and target states over the CBMeMBer filter.