Comments on "Joint Detection and Estimation of Multiple Objects From Image Observations

The above article [1] introduced an algorithm for multitarget track-before-detect based on a multi-Bernoulli random finite set model (MB-TBD). This new algorithm was compared with the Histogram Probabilistic Multi-Hypothesis Tracker (H-PMHT) on simulated data examples containing multiple targets with non-linear dynamics. The authors reported poor performance from H-PMHT and described several deficiencies of the algorithm. This note highlights unnecessary assumptions made in the assessment of H-PMHT and repeats two of the simulation examples after relaxing them. We demonstrate a substantial improvement in performance compared with the originally published results. The simulation example is also shown to be a relatively high signal to noise problem and good performance is obtained from a conventional detect-then-track algorithm.