Title :
Extended Object Tracking with Random Hypersurface Models
Author :
Baum, Marcus ; Hanebeck, Uwe D.
Author_Institution :
Inst. for Anthropomatics, Karlsruhe Inst. of Technol., Karlsruhe, Germany
Abstract :
The random hypersurface model (RHM) is introduced for estimating a shape approximation of an extended object in addition to its kinematic state. An RHM represents the spatial extent by means of randomly scaled versions of the shape boundary. In doing so, the shape parameters and the measurements are related via a measurement equation that serves as the basis for a Gaussian state estimator. Specific estimators are derived for elliptic and star-convex shapes.
Keywords :
Gaussian processes; approximation theory; geometry; object tracking; shape measurement; state estimation; Gaussian state estimator; RHM; elliptic shapes; extended object tracking; kinematic state; measurement equation; random hypersurface models; shape approximation estimation; shape boundary; shape parameters; star-convex shapes; Approximation methods; Gaussian processes; Shape; Shape measurement; State estimation; Target tracking;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
DOI :
10.1109/TAES.2013.120107
