Distributed Fusion of Labeled Multi-Bernoulli Filters Based on Arithmetic Average

This letter considers the distributed fusion for Labeled Multi-Bernoulli (LMB) filters under the multi-sensor multi-target tracking scenario. In practice, a novel fusion method that combines the label-free strategy with the fusion method based on the Arithmetic Average (AA) is proposed. Firstly, the label-free version of the LMB posterior is obtained. Then, the corresponding Probability Hypothesis Density (PHD) is acquired and fused by the merging-based PHD-AA fusion method. Finally, the labels of the fused distributions are reassigned. The simulation shows that the distributed LMB filter using the proposed fusion method can achieve more accurate multi-target state estimates with relatively low computational burden under clutter and missed detection environment compared to other existing methods.