Maintaining Track Continuity for Extended Targets Using Gaussian-Mixture Probability Hypothesis Density Filter

Algorithm 1

Pruning and merging algorithm for the ET-GMPHD tracker.

Given  , a truncation threshold ,

a merging threshold and a maximum allowable number

of Gaussian terms .

Set  , and

Repeat:

Until  

If , replace by those the

Gaussian terms with largest weights.

Output  , where