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In this paper, we establish a connection between Reid{'}s HOMHT and themodern Random Finite Set (RFS)/ Finite Set Statistics (FISST) based methods forMulti-Target Tracking. We start with an RFS description of the Multi-Targetprobability density function (MT-pdf), and derive the prediction, and updateequations of the MT-tracking problem in the RFS framework from a belief spaceperspective. We show that the RFS pdf has a hypothesis dependent structure thatis similar to the HOMHT hypotheses structure. In particular, we examine thedifferent hypotheses, and derive the hypotheses update equations under theFISST recursions, and clearly show its relationship to the classical HOMHThypotheses and hypothesis weight update formula, thereby establishing aconnection between the methods.

A Belief Space Perspective of RFS based Multi-Target Tracking and its Relationship to MHT