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

Petrov, Nikolay and Mihaylova, Lyudmila and Gning, Amadou and Angelova, Donka (2011) A Sequential Monte Carlo Approach for Extended Object Tracking in the Presence of Clutter. In: Lecture Notes from Informatics. Lecture Notes in Informatics . UNSPECIFIED, DEU, pp. 1-11. ISBN 978-3-88579-286-4

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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.

Item Type:
Contribution in Book/Report/Proceedings
Subjects:
ID Code:
61068
Deposited By:
Deposited On:
19 Dec 2012 11:22
Refereed?:
Yes
Published?:
Published
Last Modified:
04 Dec 2020 06:43