{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,7]],"date-time":"2026-03-07T23:56:34Z","timestamp":1772927794234,"version":"3.50.1"},"reference-count":41,"publisher":"Institute of Electronics, Information and Communications Engineers (IEICE)","issue":"3","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEICE Trans. Fundamentals"],"published-print":{"date-parts":[[2026,3,1]]},"DOI":"10.1587\/transfun.2025eap1087","type":"journal-article","created":{"date-parts":[[2025,9,9]],"date-time":"2025-09-09T22:09:27Z","timestamp":1757455767000},"page":"622-637","source":"Crossref","is-referenced-by-count":0,"title":["Tracking Coexisting Point and Extended Targets with Unknown Detection Probability Using the PHD Filter"],"prefix":"10.1587","volume":"E109.A","author":[{"given":"Ling","family":"CUI","sequence":"first","affiliation":[{"name":"Kunming University of Science and Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongshu","family":"LIAO","sequence":"additional","affiliation":[{"name":"University of Electronic Science and Technology of China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jiangling","family":"DOU","sequence":"additional","affiliation":[{"name":"Kunming University of Science and Technology"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuansheng","family":"LI","sequence":"additional","affiliation":[{"name":"Chongqing Vocational Institute of Engineering"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"532","reference":[{"key":"1","doi-asserted-by":"crossref","unstructured":"[1] R.P.S. Mahler, Statistical Multisource-Multitarget Information Fusion, Artech House, 2007.","DOI":"10.1201\/9781420053098.ch16"},{"key":"2","unstructured":"[2] R. Mahler, Advances in Statistical Multisource-Multitarget Information Fusion, Artech House, Norwell, MA, USA, 2014."},{"key":"3","doi-asserted-by":"publisher","unstructured":"[3] K. Granstr\u00f6m, M. Fatemi, and L. Svensson, \u201cPoisson multi-bernoulli mixture conjugate prior for multiple extended target filtering,\u201d IEEE Trans. Aerosp. Electron. Syst., vol.56, no.1, pp.208-225, Feb. 2020. 10.1109\/taes.2019.2920220","DOI":"10.1109\/TAES.2019.2920220"},{"key":"4","doi-asserted-by":"publisher","unstructured":"[4] \u00c3.F. Garc\u00eda-Fern\u00e1ndez, J.L. Williams, K. Granstr\u00f6m, and L. Svensson, \u201cPoisson multi-Bernoulli mixture filter: Direct derivation and implementation,\u201d IEEE Trans. Aerosp. Electron. Syst., vol.54, no.4, pp.1883-1901, Aug. 2018. 10.1109\/taes.2018.2805153","DOI":"10.1109\/TAES.2018.2805153"},{"key":"5","doi-asserted-by":"crossref","unstructured":"[5] A.A.U. Rahman, M. Naznin, and M.A.I. Mollah, \u201cEnergy-efficient multiple targets tracking using target kinematics in wireless sensor networks,\u201d Fourth International Conference on Sensor Technologies and Applications, Venice, Italy, pp.275-280, 2010. 10.1109\/sensorcomm.2010.101","DOI":"10.1109\/SENSORCOMM.2010.101"},{"key":"6","doi-asserted-by":"publisher","unstructured":"[6] V. Savic, H. Wymeersch, and E.G. Larsson, \u201cTarget tracking in confined environments with uncertain sensor positions,\u201d IEEE Trans. Veh. Technol., vol.65, no.2, pp.870-882, Feb. 2016. 10.1109\/tvt.2015.2404132","DOI":"10.1109\/TVT.2015.2404132"},{"key":"7","doi-asserted-by":"publisher","unstructured":"[7] G. Vivone and P. Braca, \u201cJoint probabilistic data association tracker for extended target tracking applied to X-band marine radar data,\u201d IEEE J. Ocean. Eng., vol.41, no.4, pp.1007-1019, Oct. 2016. 10.1109\/joe.2015.2503499","DOI":"10.1109\/JOE.2015.2503499"},{"key":"8","doi-asserted-by":"publisher","unstructured":"[8] S.S. Blackman, \u201cMultiple hypothesis tracking for multiple target tracking,\u201d IEEE Aerosp. Electron. Syst. Mag., vol.19, no.1, pp.5-18, Jan. 2004. 10.1109\/maes.2004.1263228","DOI":"10.1109\/MAES.2004.1263228"},{"key":"9","doi-asserted-by":"publisher","unstructured":"[9] E. Maggio, M. Taj, and A. Cavallaro, \u201cEfficient multitarget visual tracking using random finite sets,\u201d IEEE Trans. Circuits Syst. Video Technol., vol.18, no.8, pp.1016-1027, Aug. 2008. 10.1109\/tcsvt.2008.928221","DOI":"10.1109\/TCSVT.2008.928221"},{"key":"10","doi-asserted-by":"publisher","unstructured":"[10] B.-N. Vo and W.-K. Ma, \u201cThe Gaussian mixture probability hypothesis density filter,\u201d IEEE Trans. Signal Process., vol.54, no.11, pp.4091-4104, Nov. 2006. 10.1109\/tsp.2006.881190","DOI":"10.1109\/TSP.2006.881190"},{"key":"11","doi-asserted-by":"publisher","unstructured":"[11] R. Mahler, \u201cPHD filters of higher order in target number,\u201d IEEE Trans. Aerosp. Electron. Syst., vol.43, no.4, pp.1523-1543, Oct. 2007. 10.1109\/TAES.2007.4441756","DOI":"10.1109\/TAES.2007.4441756"},{"key":"12","doi-asserted-by":"publisher","unstructured":"[12] \u00c1.F. Garc\u00eda-Fern\u00e1ndez, and L. Svensson, \u201cTrajectory PHD and CPHD filters,\u201d IEEE Trans. Signal Process., vol.67, no.22, pp.5702-5714, Nov. 2019. 10.1109\/tsp.2019.2943234","DOI":"10.1109\/TSP.2019.2943234"},{"key":"13","doi-asserted-by":"publisher","unstructured":"[13] Y. Xia, K. Granstr\u00f6m, L. Svensson, M. Fatemi, \u00c1.F. Garc\u00eda-Fern\u00e1ndez, and J.L. Williams, \u201cPoisson multi-Bernoulli approximations for multiple extended object filtering,\u201d IEEE Trans. Aerosp. Electron. Syst., vol.58, no.2, pp.890-906, April 2022. 10.1109\/taes.2021.3111720","DOI":"10.1109\/TAES.2021.3111720"},{"key":"14","doi-asserted-by":"crossref","unstructured":"[14] J. Smith, F. Particke, M. Hiller, and J. Thielecke, \u201cSystematic analysis of the PMBM, PHD, JPDA and GNN multi-target tracking filters,\u201d 22th International Conference on Information Fusion (FUSION), Ottawa, ON, Canada, pp.1-8, 2019. 10.23919\/fusion43075.2019.9011349","DOI":"10.23919\/FUSION43075.2019.9011349"},{"key":"15","unstructured":"[15] K. Granstr\u00f6m, M. Baum, and S. Reuter, \u201cExtended object tracking: Introduction, overview, and applications,\u201d J. Adv. Inf. Fusion, vol.12, no.2, pp.139-174, Dec. 2017. 10.48550\/arXiv.1604.00970"},{"key":"16","doi-asserted-by":"publisher","unstructured":"[16] S.K. Joshi, S.V. Baumgartner, and G. Krieger, \u201cTracking and track management of extended targets in range-Doppler using range-compressed airborne radar data,\u201d IEEE Trans. Geosci. Remote Sens., vol.60, pp.1-20, Jan. 2022. 10.1109\/tgrs.2021.3084862","DOI":"10.1109\/TGRS.2021.3084862"},{"key":"17","doi-asserted-by":"publisher","unstructured":"[17] B. Tuncer and E. \u00d6zkan, \u201cRandom matrix based extended target tracking with orientation: A new model and inference,\u201d IEEE Trans. Signal Process., vol.69, pp.1910-1923, April 2021. 10.1109\/tsp.2021.3065136","DOI":"10.1109\/TSP.2021.3065136"},{"key":"18","doi-asserted-by":"publisher","unstructured":"[18] K. Granstr\u00f6m, A. Natale, P. Braca, G. Ludeno, and F. Serafino, \u201cGamma Gaussian inverse wishart probability hypothesis density for extended target tracking using X-band marine radar data,\u201d IEEE Trans. Geosci. Remote Sens., vol.53, no.12, pp.6617-6631, Dec. 2015. 10.1109\/tgrs.2015.2444794","DOI":"10.1109\/TGRS.2015.2444794"},{"key":"19","doi-asserted-by":"publisher","unstructured":"[19] Y. Li, T. Shen, and L. Gao, \u201cMultisensor multiple extended objects tracking based on the message passing,\u201d IEEE Sensors J., vol.24, no.10, pp.16510-16528, May 2024. 10.1109\/jsen.2024.3384560","DOI":"10.1109\/JSEN.2024.3384560"},{"key":"20","doi-asserted-by":"publisher","unstructured":"[20] C. Lundquist, K. Granstrom, and U. Orguner, \u201cAn extended target CPHD filter and a gamma Gaussian inverse wishart implementation,\u201d IEEE J. Sel. Topics Signal Process., vol.7, no.3, pp.472-483, Feb. 2013. 10.1109\/jstsp.2013.2245632","DOI":"10.1109\/JSTSP.2013.2245632"},{"key":"21","doi-asserted-by":"crossref","unstructured":"[21] Y. Li, P. Wei, Y. Chen, Y. Wei, and H. Zhang, \u201cMessage passing based extended objects tracking with measurement rate and extension estimation,\u201d IEEE Radar Conference (RadarConf21), Atlanta, GA, USA, pp.1-6, 2021. 10.1109\/radarconf2147009.2021.9455331","DOI":"10.1109\/RadarConf2147009.2021.9455331"},{"key":"22","unstructured":"[22] K. Granstr\u00f6m and U. Orguner, \u201cEstimation and maintenance of measurement rates for multiple extended target tracking,\u201d 15th International Conference on Information Fusion, Singapore, pp.2170-2176, 2012."},{"key":"23","doi-asserted-by":"publisher","unstructured":"[23] \u00c3.F. Garc\u00eda-Fern\u00e1ndez, J.L. Williams, L. Svensson, and Y. Xia, \u201cA Poisson multi-Bernoulli mixture filter for coexisting point and extended targets,\u201d IEEE Trans. Signal Process., vol.69, pp.2600-2610, May 2021. 10.1109\/tsp.2021.3072006","DOI":"10.1109\/TSP.2021.3072006"},{"key":"24","unstructured":"[24] X. Wu, Y. Zhao, J. Qiang, L. Ma, W. Wu, Q. Liu, and L. Du, \u201cA Poisson multi-Bernoulli mixture filter for tracking coexisting point\/extended targets by multiple sensors\u2019 fusion,\u201d Asian Control Conference (ASCC), pp.189-194, 2024."},{"key":"25","doi-asserted-by":"publisher","unstructured":"[25] S. Wei, \u00c1.F. Garc\u00eda-Fern\u00e1ndez, and W. Yi, \u201cThe trajectory PHD filter for coexisting point and extended target tracking,\u201d IEEE Trans. Aerosp. Electron. Syst., vol.61, no.3, pp.5669-5685, June 2025. 10.1109\/taes.2024.3521921","DOI":"10.1109\/TAES.2024.3521921"},{"key":"26","doi-asserted-by":"publisher","unstructured":"[26] B. Yan, E. Paolini, L. Xu, and H. Lu, \u201cA target detection and tracking method for multiple radar systems,\u201d IEEE Trans. Geosci. Remote Sens., vol.60, pp.1-21, June 2022. 10.1109\/tgrs.2022.3183387","DOI":"10.1109\/TGRS.2022.3183387"},{"key":"27","doi-asserted-by":"publisher","unstructured":"[27] G. Li, L. Kong, W. Yi, and X. Li, \u201cRobust Poisson multi-Bernoulli mixture filter with unknown detection probability,\u201d IEEE Trans. Veh. Technol., vol.70, no.1, pp.886-899, Feb. 2021. 10.1109\/tvt.2020.3047107","DOI":"10.1109\/TVT.2020.3047107"},{"key":"28","doi-asserted-by":"publisher","unstructured":"[28] R.P.S. Mahler, B.-T. Vo, and B.-N. Vo, \u201cCPHD filtering with unknown clutter rate and detection profile,\u201d IEEE Trans. Signal Process., vol.59, no.8, pp.3497-3513, Aug. 2011. 10.1109\/tsp.2011.2128316","DOI":"10.1109\/TSP.2011.2128316"},{"key":"29","doi-asserted-by":"publisher","unstructured":"[29] C. Li, Z. Fan, and R. Shi, \u201cA generalized labelled multi-Bernoulli filter for extended targets with unknown clutter rate and detection profile,\u201d IEEE Access, vol.8, pp.213772-213782, Dec. 2020. 10.1109\/access.2020.3036900","DOI":"10.1109\/ACCESS.2020.3036900"},{"key":"30","doi-asserted-by":"publisher","unstructured":"[30] X. Xie, Y. Wang, J. Guo, and R. Zhou, \u201cPMBM filter for multiple extended targets with unknown clutter rate and detection probability,\u201d IEEE Sensors J., vol.23, no.15, pp.17133-17147, Aug. 2023. 10.1109\/jsen.2023.3285885","DOI":"10.1109\/JSEN.2023.3285885"},{"key":"31","doi-asserted-by":"publisher","unstructured":"[31] Q. Xue, G. Liao, X. Zheng, and S. Wu, \u201cExtended target trajectory Poisson multi-Bernoulli mixture filters with unknown detection probability,\u201d Digital Signal Process., vol.150, p.104513, July 2024. 10.1016\/j.dsp.2024.104513","DOI":"10.1016\/j.dsp.2024.104513"},{"key":"32","doi-asserted-by":"publisher","unstructured":"[32] S. Wei, B. Zhang, and W. Yi, \u201cTrajectory PHD and CPHD filters with unknown detection profile,\u201d IEEE Trans. Veh. Technol., vol.71, no.8, pp.8042-8058, Aug. 2022. 10.1109\/tvt.2022.3174055","DOI":"10.1109\/TVT.2022.3174055"},{"key":"33","doi-asserted-by":"publisher","unstructured":"[33] C. Li, W. Wang, T. Kirubarajan, J. Sun, and P. Lei, \u201cPHD and CPHD filtering with unknown detection probability,\u201d IEEE Trans. Signal Process., vol.66, no.14, pp.3784-3798, July 2018. 10.1109\/tsp.2018.2835398","DOI":"10.1109\/TSP.2018.2835398"},{"key":"34","doi-asserted-by":"publisher","unstructured":"[34] K. Granstr\u00f6m and U. Orguner, \u201cA PHD filter for tracking multiple extended targets using random matrices,\u201d IEEE Trans. Signal Process., vol.60, no.11, pp.5657-5671, Nov. 2012. 10.1109\/tsp.2012.2212888","DOI":"10.1109\/TSP.2012.2212888"},{"key":"35","doi-asserted-by":"publisher","unstructured":"[35] Y. Li, P. Wei, G. Li, Y. Chen, L. Gao, and H. Zhang, \u201cJoint detection, tracking and classification of multiple extended objects based on the JDTC-GIW-MeMBer filter,\u201d Signal Processing, vol.178, p.107800, Sept. 2021. 10.1016\/j.sigpro.2020.107800","DOI":"10.1016\/j.sigpro.2020.107800"},{"key":"36","unstructured":"[36] R. Mahler, \u201cPHD filters for nonstandard targets, I: Extended targets,\u201d 12th International Conference on Information Fusion, Seattle, WA, USA, pp.915-921, 2009."},{"key":"37","doi-asserted-by":"publisher","unstructured":"[37] K. Granstrom, C. Lundquist, and O. Orguner, \u201cExtended target tracking using a Gaussian-mixture PHD filter,\u201d IEEE Trans. Aerosp. Electron. Syst., vol.48, no.4, pp.3268-3286, Oct. 2012. 10.1109\/taes.2012.6324703","DOI":"10.1109\/TAES.2012.6324703"},{"key":"38","doi-asserted-by":"crossref","unstructured":"[38] Y. Ge, F. Wen, H. Kim, M. Zhu, F. Jiang, S. Kim, L. Svensson, and H. Wymeersch, \u201c5G SLAM using the clustering and assignment approach with diffuse multipath,\u201d Sensors, vol.20, no.16, Art no.4656, Jan. 2020. 10.3390\/s20164656","DOI":"10.3390\/s20164656"},{"key":"39","doi-asserted-by":"publisher","unstructured":"[39] J. Lan and X.R. Li, \u201cTracking of extended object or target group using random matrix: New model and approach,\u201d IEEE Trans. Aerosp. Electron. Syst., vol.52, no.6, pp.2973-2989, Dec. 2016. 10.1109\/taes.2016.130346","DOI":"10.1109\/TAES.2016.130346"},{"key":"40","doi-asserted-by":"crossref","unstructured":"[40] A.S. Rahmathullah, \u00c1.F. Garc\u00eda-Fern\u00e1ndez, and L. Svensson, \u201cGeneralized optimal sub-pattern assignment metric,\u201d 2017 20th International Conference on Information Fusion (Fusion), Xi\u2019an, China, pp.1-8, 2017. 10.23919\/icif.2017.8009645","DOI":"10.23919\/ICIF.2017.8009645"},{"key":"41","doi-asserted-by":"publisher","unstructured":"[41] D. Schuhmacher, B.-T. Vo, and B.-N. Vo, \u201cA consistent metric for performance evaluation of multi-object filters,\u201d IEEE Trans. Signal Process., vol.56, no.8, pp.3447-3457, Aug. 2008. 10.1109\/tsp.2008.920469","DOI":"10.1109\/TSP.2008.920469"}],"container-title":["IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.jstage.jst.go.jp\/article\/transfun\/E109.A\/3\/E109.A_2025EAP1087\/_pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,3,7]],"date-time":"2026-03-07T04:11:23Z","timestamp":1772856683000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.jstage.jst.go.jp\/article\/transfun\/E109.A\/3\/E109.A_2025EAP1087\/_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3,1]]},"references-count":41,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2026]]}},"URL":"https:\/\/doi.org\/10.1587\/transfun.2025eap1087","relation":{},"ISSN":["0916-8508","1745-1337"],"issn-type":[{"value":"0916-8508","type":"print"},{"value":"1745-1337","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,3,1]]},"article-number":"2025EAP1087"}}