Taxonomy of multiple target tracking methods

A concise summary of techniques for multiple target tracking is provided and their main characterics assessed qualitatively. The techniques have been catergorised into more than 35 different algorithmic types. A comparison chart is provided that lists each algorithm and categorises the processing scheme, data association mechanism, complexity scaling (with number of targets and with state dimension), overall complexity and a subjective performance figure. Although some recent filtering theory developments have been omitted, the survey should serve to demonstrate the large variety of ´classical´ estimation theoretic algorithms already available for the design of multiple target tracking systems. A number of areas deserving of further study are identified in the concluding remarks.