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Joint probabilistic data association (JPDA) filter methods and multiplehypothesis tracking (MHT) methods are widely used for multitarget tracking(MTT). However, they are known to exhibit undesirable behavior in trackingscenarios with targets in close proximity: JPDA filter methods suffer from thetrack coalescence effect, i.e., the estimated tracks of targets in closeproximity tend to merge and can become indistinguishable, and MHT methodssuffer from an opposite effect known as track repulsion. In this paper, wereview the JPDA filter and MHT methods and discuss the track coalescence andtrack repulsion effects. We also consider a more recent methodology for MTTthat is based on the belief propagation (BP) algorithm, and we argue thatBP-based MTT exhibits significantly reduced track coalescence and no trackrepulsion. Our theoretical arguments are confirmed by numerical results.

To Coalesce or to Repel? An Analysis of MHT, JPDA, and Belief Propagation Multitarget Tracking Methods