Mixed Labelling in Multitarget Particle Filtering

The so-called mixed labelling problem inherent to a joint state multitarget particle filter implementation is treated. The mixed labelling problem would be prohibitive for track extraction from a joint state multitarget particle filter. It is shown, using the theory of Markov chains, that the mixed labelling problem in a particle filter is inherently self-resolving. It is also shown that the factors influencing this capability are the number of particles and the number of resampling steps. Extensive quantitative analyses of these influencing factors are provided.