# Multiple target tracking based on sets of trajectories

arXiv: https://arxiv.org/abs/1605.08163 · HTML: https://mlsanity.com/paper/1605.08163/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 May 2016.

## Built on by (most cited first, 11 of 11)

- [A time-weighted metric for sets of trajectories to assess multi-object tracking algorithms](https://mlsanity.com/paper/2110.13444/) (2021)
- [Trajectory Poisson multi-Bernoulli mixture filter for traffic monitoring using a drone](https://mlsanity.com/paper/2306.16890/) (2023)
- [TGOSPA Metric Parameters Selection and Evaluation for Visual Multi-object Tracking](https://mlsanity.com/paper/2412.08321/) (2024)
- [From Target Tracking to Targeting Track -- Part I: A Metric for Spatio-Temporal Trajectory Evaluation](https://mlsanity.com/paper/2502.15842/) (2025)
- [Continuous-discrete multiple target tracking with out-of-sequence measurements](https://mlsanity.com/paper/2106.04898/) (2021)
- [Extended Object Tracking Using Sets Of Trajectories with a PHD Filter](https://mlsanity.com/paper/2109.01019/) (2021)
- [A comparison between PMBM Bayesian track initiation and labelled RFS adaptive birth](https://mlsanity.com/paper/2207.06156/) (2022)
- [Deep Fusion of Multi-Object Densities Using Transformer](https://mlsanity.com/paper/2209.08857/) (2022)
- [Set-Type Belief Propagation with Applications to Poisson Multi-Bernoulli SLAM](https://mlsanity.com/paper/2305.04797/) (2023)
- [Poisson multi-Bernoulli mixture filter for trajectory measurements](https://mlsanity.com/paper/2504.08421/) (2025)
- [GOSPA and T-GOSPA quasi-metrics for evaluation of multi-object tracking algorithms](https://mlsanity.com/paper/2507.13706/) (2025)

## Abstract (arXiv)

We propose a solution of the multiple target tracking (MTT) problem based on sets of trajectories and the random finite set framework. A full Bayesian approach to MTT should characterise the distribution of the trajectories given the measurements, as it contains all information about the trajectories. We attain this by considering multi-object density functions in which objects are trajectories. For the standard tracking models, we also describe a conjugate family of multitrajectory density functions.