Tracking multiple objects using the Viterbi algorithm

Tracking multiple targets is a great challenge for most tracking algorithms, since these algorithms tend to loose some of the targets when they get close to each other. Hence, several algorithms like the MHT, the JPDAF and the PMHT have been developed for this task. However, these algorithms are specialized on punctiform targets, whereas in mobile robotics one has to deal with extended targets. Therefore, in this paper an algorithm is proposed that can solve this problem. It uses the Viterbi algorithm and some geometrical characteristics of the problem. The proposed algorithm was tested with real world data.