# A Generalized Labeled Multi-Bernoulli Filter with Object Spawning

## TL;DR

This paper introduces a generalized labeled multi-Bernoulli filter that incorporates object spawning, enabling joint estimation of spawned object states and lineages, thus extending multi-object tracking capabilities.

## Contribution

The paper presents a novel GLMB filter formulation that explicitly models object spawning and lineage tracking, filling a gap in existing multi-object tracking methods.

## Key findings

- Simulations confirm improved tracking of spawned objects.
- The new filter accurately estimates object lineages.
- Enhanced multi-object tracking performance demonstrated.

## Abstract

Previous labeled random finite set filter developments use a motion model that only accounts for survival and birth. While such a model provides the means for a multi-object tracking filter such as the Generalized Labeled Multi-Bernoulli (GLMB) filter to capture object births and deaths in a wide variety of applications, it lacks the capability to capture spawned tracks and their lineages. In this paper, we propose a new GLMB based filter that formally incorporates spawning, in addition to birth. This formulation enables the joint estimation of a spawned object's state and information regarding its lineage. Simulations results demonstrate the efficacy of the proposed formulation.