Filters for Spatial Point Processes

We study the general problem of estimating a ‘hidden’ point process X given the realisation of an ‘observed’ point process Y (possibly defined in different spaces) with known joint distribution. We characterise the posterior distribution of X under marginal Poisson and Gauss-Poisson prior and when the transformation from X to Y includes thinning, displacement and augmentation with extra points. These results are then applied in a filtering context when the hidden process evolves in discrete time in a Markovian fashion. The dynamics of X considered are general enough for many target tracking applications.