[1] [1] REID D. An algorithm for tracking multiple targets[J]. IEEE Transactions on Automatic Control, 1979,24(6):843-854.

[2] [2] DEMOS G C,RIBAS R A,BROIDA T J,et al. Applications of MHT to dim moving targets[J]. Signal and Data Processing of Small Targets, 1990(1305):297-309.

[3] [3] BLACKMAN S S,POPOLO R. Design and analysis of modern tracking system[M]. Boston,MA,USA:Artech House, 1999.

[4] [4] LI N,LI X R. Target perceivability and its applications[J]. IEEE Transactions on Signal Processing, 2001,49(11):2588-2604.

[5] [5] SONG T L,MUSICKI D. Adaptive clutter measurement density estimation for improved target tracking[J]. IEEE Transactions on Aerospace & Electronic Systems, 2011,47(2):1457-1466.

[6] [6] PARK S H, CHONG S Y, KIM H J, et al. Adaptive estimation of spatial clutter measurement density using clutter measurement probability for enhanced multi-target tracking[J]. Sensors, 2019,20(1):114.

[7] [7] LIAN F,HAN C,LIU W. Estimating unknown clutter intensity for PHD filter[J]. IEEE Transactions on Aerospace & Electronic Systems, 2010,46(4):2066-2078.

[8] [8] RAN Z, LONG Y, WEI A. Multitarget tracking based on PHD smoother with unknown clutter spatial density[J]. Progress in Electromagnetics Research C, 2018(82):123-133.

[9] [9] STREIT R L. Poisson point processes: imaging,tracking,and sensing[M]. New York:Springer US, 2010.

[10] [10] ZIVKOVIC Z. Improved adaptive Gaussian mixture model for background subtraction[C]// Proceedings of the 17th International Conference on Pattern Recognition. Cambridge,UK:IEEE, 2004:28-31.