<title>Bayesian cluster detection and tracking using a generalized Cheeseman approach</title>

Cluster tracking is the problem of detecting and tracking clustered formations of large numbers of targets, without necessarily being obligated to track each and every individual target. We address this problem by generalizing to the dynamic case a static Bayesian finite-mixture data-clustering approach due to P. Cheeseman. After summarizing Cheeseman's approach, we show that it implicitly draws on random set theory. Making this connection explicit allows us to incorporate it into a multitarget recursive Bayes filter, thereby leading to a rigorous Bayesian foundation for finite-mixture cluster tracking. A computational approach is proposed, based on an approximate, multitarget first-order moment filter ("cluster PHD" filter).