Bayesian Nonparametric Modeling for Predicting Dynamic Dependencies in Multiple Object Tracking

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2 Scopus citations


The paper considers the problem of tracking an unknown and time-varying number of unlabeled moving objects using multiple unordered measurements with unknown association to the objects. The proposed tracking approach integrates Bayesian nonparametric modeling with Markov chain Monte Carlo methods to estimate the parameters of each object when present in the tracking scene. In particular, we adopt the dependent Dirichlet process (DDP) to learn the multiple object state prior by exploiting inherent dynamic dependencies in the state transition using the dynamic clustering property of the DDP. Using the DDP to draw the mixing measures, Dirichlet process mixtures are used to learn and assign each measurement to its associated object identity. The Bayesian posterior to estimate the target trajectories is efficiently implemented using a Gibbs sampler inference scheme. A second tracking approach is proposed that replaces the DDP with the dependent Pitman–Yor process in order to allow for a higher flexibility in clustering. The improved tracking performance of the new approaches is demonstrated by comparison to the generalized labeled multi-Bernoulli filter.

Original languageEnglish (US)
Article number388
Issue number1
StatePublished - Jan 1 2022


  • Bayesian nonparametric model-ing
  • Dependent Dirichlet process
  • Dependent Pitman–Yor process
  • Monte Carlo sampling method
  • Multiple object tracking

ASJC Scopus subject areas

  • Analytical Chemistry
  • Information Systems
  • Atomic and Molecular Physics, and Optics
  • Biochemistry
  • Instrumentation
  • Electrical and Electronic Engineering


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