A System Design for 3D Visualization of Underwater Multi-Target Tracking Based on Unity 3D and GMPHD Filter

Abstract

This paper proposes a design for a visualization system for underwater multi-target tracking based on the Gaussian Mixture Probability Hypothesis Density (GMPHD) filter using Unity 3D engine. Traditional analysis methods for underwater tracking algorithms rely primarily on two-dimensional graphs and numerical data, making it challenging to intuitively understand the complex behavior of tracking systems in three-dimensional underwater environments. Our proposed system design provides a framework for 3D visualization of target movements, sonar sensor detection areas, and filter estimation results, along with an interactive interface for parameter adjustment. The proposed architecture consists of four main components: simulation core, visualization module, environment simulation, and user interface, which would enable researchers to analyze algorithm performance under various scenarios effectively. Through real-time visualization and parameter adjustment capabilities, the system is designed to offer immediate feedback on how different parameters affect tracking performance. This architectural approach aims to provide researchers with a more intuitive understanding of the GMPHD filter's operation and facilitate the optimization of tracking algorithms for underwater environments. The proposed system design demonstrates the potential of 3D visualization tools in advancing underwater multi-target tracking research and algorithm development. © 2025 IEEE.