Multitarget Tracking with Spatial Nonmaximum Suppressed Sensor Selection

Algorithm 1

SMC sequential multisensor multi-Bernoulli filter.

Prediction:

Input:  

 (1) for Survival targets:   do

 (2)  for , sample , compute weight and normalization

 (3)  compute

 (4) end for

 (5) for newborn targets:   do

 (6)  for , sample , compute weight and normalization

 (7)  compute ,

 (8) end for

Output:  

Update:

Input:  , candidate sensors located at with observation set

 (1) for    do

 (2)  for  Legacy targets:   do

 (3)   compute and normalization , compute pseudo-likelihood

 (4)   compute ,

 (5)  end for

 (6)  for    do

 (7)   for  Measurement-updated targets:   do

 (8)    compute and normalization , compute pseudo-likelihood

 (9)    compute ,

 (10)  end for

 (11)  end for

 (12)  

 (13) end for

Output: