Evolutionary Resampling for Multi-Target Tracking using Probability Hypothesis Density Filter

A resampling scheme is proposed for use with Sequential Monte Carlo (SMC)-based Probability Hypothesis Density (PHD) filters. It consists of two steps, first, regions of interest are identified, then an evolutionary resampling is applied for each region. Applying resampling locally corresponds to treating each target individually, while the evolutionary resampling introduces a memory to a group of particles, increasing the robustness of the estimation against noise outliers. The proposed approach is compared to the original SMC-PHD filter for tracking multiple targets in a deterministically moving targets scenario, and a noisy motion scenario. In both cases, the proposed approach provides more accurate estimates.