Robust fusion for multisensor multiobject tracking

This letter proposes analytical expressions for the fu- sion of certain classes of labeled multiobject densities via Kullback– Leibler averaging. Specifically, we provide analytical fusion rules for the labeled multi-Bernoulli and marginalized δ-generalized labeled multi-Bernoulli families of labeled multiobject densities. Information fusion via Kullback–Leibler averaging ensures im- munity to double counting of information and is essential to the development of effective multiagent multiobject estimation.