mlsanityData to 7 Oct 2026

Poisson multi-Bernoulli mixture filter: direct derivation and implementation

arXiv 1703.04264 ↗First posted 13 Mar 2017cs.CV stat.MEcited by 29

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Abstract (arXiv)

We provide a derivation of the Poisson multi-Bernoulli mixture (PMBM) filter for multi-target tracking with the standard point target measurements without using probability generating functionals or functional derivatives. We also establish the connection with the δ-generalised labelled multi-Bernoulli (δ-GLMB) filter, showing that a δ-GLMB density represents a multi-Bernoulli mixture with labelled targets so it can be seen as a special case of PMBM. In addition, we propose an implementation for linear/Gaussian dynamic and measurement models and how to efficiently obtain typical estimators in the literature from the PMBM. The PMBM filter is shown to outperform other filters in the literature in a challenging scenario.

Key facts. Cited by 29 papers in the map (data through 7 Oct 2026). First posted on arXiv 13 Mar 2017.

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Citing papers per year: 2021: 5; 2022: 8; 2023: 3; 2024: 4; 2025: 7; 2026: 2.

29 papers.

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  1. 2022GNN-PMB: A Simple but Effective Online 3D Multi-Object Tracker without Bells and Whistlescited by 15
  2. 2022Deep Learning Serves Traffic Safety Analysis: A Forward-looking Reviewcited by 13
  3. 2022Neural Enhanced Belief Propagation for Multiobject Trackingcited by 11
  4. 2022Neural Enhanced Belief Propagation for Data Association in Multiobject Trackingcited by 10
  5. 2024Radar and Camera Fusion for Object Detection and Tracking: A Comprehensive Surveycited by 9
  6. 2021Multi-Object Tracking using Poisson Multi-Bernoulli Mixture Filtering for Autonomous Vehiclescited by 6
  7. 2021Next Generation Multitarget Trackers: Random Finite Set Methods vs Transformer-based Deep Learningcited by 6
  8. 2022Can Deep Learning be Applied to Model-Based Multi-Object Tracking?cited by 5
  9. 2021A two-stage data association approach for 3D Multi-object Trackingcited by 3
  10. 2022Object Detection as Probabilistic Set Predictioncited by 3
  11. 2022SRCN3D: Sparse R-CNN 3D for Compact Convolutional Multi-View 3D Object Detection and Trackingcited by 3
  12. 2024A New Architecture for Neural Enhanced Multiobject Trackingcited by 3
17 more
  1. 2025Bayesian Multiobject Tracking With Neural-Enhanced Motion and Measurement Modelscited by 3
  2. 2021Consistency issues in Gaussian Mixture Models reduction algorithmscited by 2
  3. 2023Trajectory Poisson multi-Bernoulli mixture filter for traffic monitoring using a dronecited by 2
  4. 2021Continuous-discrete multiple target tracking with out-of-sequence measurementscited by 1
  5. 2024Heterogeneous Graph Transformer for Multiple Tiny Object Tracking in RGB-T Videoscited by 1
  6. 2025OptiPMB: Enhancing 3D Multi-Object Tracking with Optimized Poisson Multi-Bernoulli Filteringcited by 1
  7. 2022A comparison between PMBM Bayesian track initiation and labelled RFS adaptive birthcited by 0
  8. 2023Set-Type Belief Propagation with Applications to Poisson Multi-Bernoulli SLAMcited by 0
  9. 2023Multi-Base Station Cooperative Sensing with AI-Aided Trackingcited by 0
  10. 2024Gaussian multi-target filtering with target dynamics driven by a stochastic differential equationcited by 0
  11. 2025Poisson multi-Bernoulli mixture filter for trajectory measurementscited by 0
  12. 2025Distributed Poisson multi-Bernoulli filtering via generalised covariance intersectioncited by 0
  13. 2025GOSPA and T-GOSPA quasi-metrics for evaluation of multi-object tracking algorithmscited by 0
  14. 2025Model-based Multi-object Visual Tracking: Identification and Standard Model Limitationscited by 0
  15. 2025Integrated Detection and Tracking Based on Radar Range-Doppler Featurecited by 0
  16. 2026Causal neural set filtering for online multi-target trackingcited by 0
  17. 2026A Review Of Robotic World Models For Dynamic Environments Based On Factor And Scene Graphscited by 0