A large-scale multi-object tracker based on the generalised labeled multi-Bernoulli (GLMB) filter is proposed. The algorithm is capable of tracking a very large, unknown and time-varying number of objects simultaneously, in the presence of a high number of false alarms, as well as misdetections and measurement origin uncertainty due to closely spaced objects. The algorithm is demonstrated on a simulated large-scale tracking scenario, where the peak number objects appearing simultaneously exceeds one million. To evaluate the performance of the proposed tracker, we also introduce a new method of applying the optimal sub-pattern assignment (OSPA) metric, and an efficient strategy for its evaluation in large-scale scenarios.
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