# Decentralized Poisson Multi-Bernoulli Filtering for Vehicle Tracking

arXiv: https://arxiv.org/abs/1901.04518 · HTML: https://mlsanity.com/paper/1901.04518/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Jan 2019.

## Built on by (most cited first, 3 of 3)

- [Continuous-discrete multiple target tracking with out-of-sequence measurements](https://mlsanity.com/paper/2106.04898/) (2021)
- [Deep Fusion of Multi-Object Densities Using Transformer](https://mlsanity.com/paper/2209.08857/) (2022)
- [Distributed Poisson multi-Bernoulli filtering via generalised covariance intersection](https://mlsanity.com/paper/2506.18397/) (2025)

## Abstract (arXiv)

A decentralized Poisson multi-Bernoulli filter is proposed to track multiple vehicles using multiple high-resolution sensors. Independent filters estimate the vehicles' presence, state, and shape using a Gaussian process extent model; a decentralized filter is realized through fusion of the filters posterior densities. An efficient implementation is achieved by parametric state representation, utilization of single hypothesis tracks, and fusion of vehicle information based on a fusion mapping. Numerical results demonstrate the performance.