An efficient, variational approximation of the best fitting   multi-Bernoulli filter
  The joint probabilistic data association (JPDA) filter is a popular tracking methodology for problems involving well-spaced targets, but it is rarely applied in problems with closely-spaced targets due to its complexity in these cases, and due to the well-known phenomenon of coalescence. This paper addresses these difficulties using random finite sets (RFSs) and variational inference, deriving a highly tractable, approximate method for obtaining the multi-Bernoulli distribution that minimises the set Kullback-Leibler (KL) divergence from the true posterior, working within the RFS framework to incorporate uncertainty in target existence. The derivation is interpreted as an application of expectation-maximisation (EM), where the missing data is the correspondence of Bernoulli components (i.e., tracks) under each data association hypothesis. The missing data is shown to play an identical role to the selection of an ordered distribution in the same ordered family in the set JPDA algorithm. Subsequently, a special case of the proposed method is utilised to provide an efficient approximation of the minimum mean optimal sub-pattern assignment estimator. The performance of the proposed methods is demonstrated in challenging scenarios in which up to twenty targets come into close proximity. 
Jason L. Williams
cs.SY