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arXiv · 1604.00219

Second-Order Extended Kalman Filter for Extended Object and Group Tracking

Shishan Yang·Marcus Baum
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Abstract

In this paper, we propose a novel method for estimating an elliptic shape approximation of a moving extended object that gives rise to multiple scattered measurements per frame. For this purpose, we parameterize the elliptic shape with its orientation and the lengths of the semi-axes. We relate an individual measurement with the ellipse parameters by means of a multiplicative noise model and derive a second-order extended Kalman filter for a closed-form recursive measurement update. The benefits of the new method are discussed by means of Monte Carlo simulations for both static and dynamic scenarios.

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Shishan Yang, Marcus Baum. 2016-04-01. Second-Order Extended Kalman Filter for Extended Object and Group Tracking. https://arxiv.org/abs/1604.00219

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