Previous labeled random finite set filter developments use a motion modelthat only accounts for survival and birth. While such a model provides themeans for a multi-object tracking filter such as the Generalized LabeledMulti-Bernoulli (GLMB) filter to capture object births and deaths in a widevariety of applications, it lacks the capability to capture spawned tracks andtheir lineages. In this paper, we propose a new GLMB based filter that formallyincorporates spawning, in addition to birth. This formulation enables the jointestimation of a spawned object's state and information regarding its lineage.Simulations results demonstrate the efficacy of the proposed formulation.
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