Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
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TY - GEN
T1 - A Novel Sequential Monte Carlo Approach for Extended Object Tracking Based on Border Parameterisation
AU - Petrov, Nikolay
AU - Mihaylova, Lyudmila
AU - Gning, Amadou
AU - Angelova, Donka
PY - 2011/7
Y1 - 2011/7
N2 - Extended objects are characterised with multiple measurements originated from different locations of the object surface. This paper presents a novel Sequential Monte Carlo (SMC) approach for extended object tracking based on border parametrisation. The problem is formulated for general nonlinear problems. The main contribution of this work is in the derivation of the likelihood function for nonlinear measurement functions, with sets of measurements belonging to a bounded region. Simulation results are presented when the object is surrounded by a circular region. Accurate estimation results are presented both for the object kinematic state and object extent.
AB - Extended objects are characterised with multiple measurements originated from different locations of the object surface. This paper presents a novel Sequential Monte Carlo (SMC) approach for extended object tracking based on border parametrisation. The problem is formulated for general nonlinear problems. The main contribution of this work is in the derivation of the likelihood function for nonlinear measurement functions, with sets of measurements belonging to a bounded region. Simulation results are presented when the object is surrounded by a circular region. Accurate estimation results are presented both for the object kinematic state and object extent.
KW - sequential Monte Carlo methods
KW - measurement uncertainty
KW - nonlinear estimation
M3 - Conference contribution/Paper
SP - 306
EP - 313
BT - 14th International Conference on Information Fusion
CY - Chicago, Illinois, USA
ER -