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A Sequential Monte Carlo Approach for Extended Object Tracking in the Presence of Clutter

Research output: Contribution in Book/Report/ProceedingsPaper

Published

Publication date1/10/2011
Host publicationLecture Notes from Informatics
Place of publicationBerlin, Germany
Pages1-11
Number of pages11
Original languageEnglish

Conference

ConferenceINFORMATIK 2011
CountryGermany
CityBerlin
Period4/10/1110/10/11

Publication series

NameLecture Notes in Informatics
VolumeP192

Conference

ConferenceINFORMATIK 2011
CountryGermany
CityBerlin
Period4/10/1110/10/11

Abstract

Extended objects are characterised with multiple measurements originated from ifferent locations of the object surface. This paper presents a novel Sequential Monte Carlo (SMC) approach for extended object tracking in the presence of clutter. 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.