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Tracking multiple targets is a challenging problem, especially when the targets are \identical", in the sense that the same model is used to describe each target. In this case, simply instantiating several independent 1-body trackers is not an adequate solution, because the independent trackers tend to coalesce onto the best-tting target. This paper presents an observation density for tracking which solves this problem by exhibiting a probabilistic exclusion principle. Exclusion arises naturally from a systematic derivation of the observation density, without relying on heuristics. Another important contribution of the paper is the presentation of partitioned sampling, a new sampling method for multiple object tracking. Partitioned sampling avoids the high computational load associated with fully coupled t r ackers, while retaining the desirable properties of coupling.

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