Multi-target filtering with linearised complexity
  An algorithm for the estimation of multiple targets from partial and corrupted observations is introduced based on the concept of partially-distinguishable multi-target system. It combines the advantages of engineering solutions like MHT with the rigour of point-process-based methods. It is demonstrated that under intuitive assumptions and approximations, the complexity of the proposed multi-target estimation algorithm can be made linear in the number of tracks and linear in the number of observations, while naturally preserving distinct tracks for detected targets, unlike point-process-based methods. 
J. Houssineau and D. E. Clark
math.PR