3.1.1. The GLMB Recursion

Since the GLMB filter is an exact closed-form multitarget Bayes filter under the standard multitarget dynamic and observation models [12], and the form of the likelihood function in a single sensor and multisensor cases are identical, the GLMB filter can be implemented via two separate steps (update and prediction) or the combined step (joint-predict-update process). In this work, for the convenience of proposed method, the two step GLMB recursion will be presented.
