Efficient Approximation of the Labeled Multi-Bernoulli Filter for Online Multitarget Tracking

Algorithm 1

KLD based Gaussian components reduction.

Input:

()sort Gaussian components in decreasing order of weight to make the 1st component is with biggest weight;

()while do

()for do

()compute the KLD between the 1st and the th Gaussian component;

()end for

()find index that minimize ;

()merge the 1st and component into , and make the merged Gaussian term

to be the 1st component;

();

()end while

Output: