{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/poisson-multi-bernoulli-mixture-filter-direct","title":"Poisson multi-Bernoulli mixture filter: direct derivation and implementation","arxiv_id":"1703.04264","date":"2017-03-13","proceeding":null,"authors":["Ángel F. García-Fernández","Jason L. Williams","Karl Granström","Lennart Svensson"],"abstract":"We provide a derivation of the Poisson multi-Bernoulli mixture (PMBM) filter\nfor multi-target tracking with the standard point target measurements without\nusing probability generating functionals or functional derivatives. We also\nestablish the connection with the \\delta-generalised labelled multi-Bernoulli\n(\\delta-GLMB) filter, showing that a \\delta-GLMB density represents a\nmulti-Bernoulli mixture with labelled targets so it can be seen as a special\ncase of PMBM. In addition, we propose an implementation for linear/Gaussian\ndynamic and measurement models and how to efficiently obtain typical estimators\nin the literature from the PMBM. The PMBM filter is shown to outperform other\nfilters in the literature in a challenging scenario.","url_abs":"http://arxiv.org/abs/1703.04264v4","url_pdf":"http://arxiv.org/pdf/1703.04264v4.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"poisson-multi-bernoulli-mixture-filter-direct","repo_url":"https://github.com/Agarciafernandez/MTT","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=1703.04264","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}