Multitarget Tracking With Multiple Models and Visibility: Derivation and Verification on Maritime Radar Data

In this article, we demonstrate how a variation of the joint integrated probabilistic data association with interacting multiple models and a visibility state can be derived as a special case of the Poisson multi-Bernoulli mixture filter with a hybrid state representation and standard approximations. The proposed method is tested on two radar data sets that were recorded during maritime collision-avoidance experiments.