The paper derives an occlusion-aware multi-object tracking method that assigns each object an expected detection probability over the reduced Palm density within a multi-Bernoulli mixture filter.
Model-based multi-object visual tracking: Identification and standard model limitations,
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Occlusion-Aware Multi-Object Tracking via Expected Probability of Detection
The paper derives an occlusion-aware multi-object tracking method that assigns each object an expected detection probability over the reduced Palm density within a multi-Bernoulli mixture filter.