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11 May 2009 The multisensor PHD filter: II. Erroneous solution via "Poisson magic"
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The theoretical foundation for the probability hypothesis density (PHD) filter is the FISST multitarget differential and integral calculus. The "core" PHD filter presumes a single sensor. Theoretically rigorous formulas for the multisensor PHD filter can be derived using the FISST calculus, but are computationally intractable. A less theoretically desirable solution-the iterated-corrector approximation-must be used instead. Recently, it has been argued that an "elementary" methodology, the "Poisson-intensity approach," renders FISST obsolete. It has further been claimed that the iterated-corrector approximation is suspect, and in its place an allegedly superior "general multisensor intensity filter" has been proposed. In this and a companion paper I demonstrate that it is these claims which are erroneous. The companion paper introduces formulas for the actual "general multisensor intensity filter." In this paper I demonstrate that (1) the "general multisensor intensity filter" fails in important special cases; (2) it will perform badly in even the easiest multitarget tracking problems; and (3) these rather serious missteps suggest that the "Poisson-intensity approach" is inherently faulty.
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Ronald Mahler "The multisensor PHD filter: II. Erroneous solution via "Poisson magic"", Proc. SPIE 7336, Signal Processing, Sensor Fusion, and Target Recognition XVIII, 73360D (11 May 2009);

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