Fig. 2. Schematic representation of the proposed SMC-PHD filter showing the 2-D state space of the PHD of two targets populated with particles. The contours represent the state space of targets. The contour centers and number of centers represent the mode and number of targets, respectively. Boxes A, B, C, and D represent various stages of the filter. The square-shaped and diamond-shaped particles are for target 1 and target 2, respectively. The colors stand for different particle states. The particles with “ √ ” stand for particles with higher weight for when latest the observation arrives.
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