PMBM Density

In this video we introduce the Poisson Multi-Bernoulli Mixture (PMBM) density, which is a multi-object conjugate prior. You can read more about the Poisson Multi-Bernoulli Mixture (PMBM) conjugate prior in the following papers: Poisson multi-Bernoulli mixture filter: direct derivation and implementation Á. F. García-Fernández, J. L. Williams, K. Granström, L. Svensson IEEE Transactions on Aerospace and Electronic Systems, 2018, 54 (4), 1883-1901 https://doi.org/10.1109/TAES.2018.2805153 Marginal multi-Bernoulli filters: RFS derivation of MHT JIPDA and association-based MeMBer J. L. Williams IEEE Transactions on Aerospace and Electronic Systems, 2015, 51 (3), 1664-1687 https://doi.org/10.1109/TAES.2015.130550 A Matlab implementation of the PMBM filter is available at https://github.com/Agarciafernandez/MTT This video is part of a lecture series about Multiple Object Tracking. It has six parts, 1. Introduction to Multi-object Tracking, https://www.youtube.com/watch?v=ay_QLAHcZLY&list=PLadnyz93xCLhSlm2tMYJSKaik39EZV_Uk 2. Single-object Tracking in Clutter, https://www.youtube.com/watch?v=UpXpUjgqhTw&list=PLadnyz93xCLiHWjLcLFdzc-SidNL1kRF7 3. Tracking n Objects in Clutter, https://www.youtube.com/watch?v=MdW251jzc18&list=PLadnyz93xCLiCBQq1105j5Jeqi1Q6wjoJ 4. Random Finite Sets, https://www.youtube.com/watch?v=y3nIzpihkOw&list=PLadnyz93xCLhFinI8NO30-1e6SwCGRTIM 5. MOT Using Conjugate Priors, https://www.youtube.com/watch?v=m3dsosy3Z8E&list=PLadnyz93xCLjl51PzSoFhLLSp2hAYDY0H 6. Outlook - What's Next?, https://www.youtube.com/watch?v=rolckWON8Xo&list=PLadnyz93xCLh0Wm8jkQYCdwpyGFl2c-6a The course is offered as a Massive Open Online Course (MOOC) on edX. This includes the above video lectures, as well as quizzes and home assignments where you implement tracking filters, see https://www.edx.org/course/multi-object-tracking-for-automotive-systems Lecture slides can be found at: https://chalmersuniversity.app.box.com/s/kbkmglktznkb2tjlr9pqefz3ezbiyw8p