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To estimate , we set the derivative of the log-posterior with
respect to to zero under the constraint from (12)
Fig. 1. Birth intensity estimation process in one cycle of the GM-PHD lter.
ZHOU et al.: GM-PHD-BASED MTVT USING ENTROPY DISTRIBUTION AND GAME THEORY 1067
where is a Lagrange multiplier. Substituting (14) and (15) into
(17) yields
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