An extended target tracking method with random finite set observations

A target is denoted extended when the target extent is larger than the sensor resolution. A tracking algorithm should be capable of estimating the target extent in addition to the state of the centroid. This paper addresses the problem of tracking an extended target with unknown parameter about the target extent. The extended target is regarded as a spatial distribution model, and the target extent is considered as a mixture of multiple probability distributions in this paper. The EM algorithm is utilized to estimate the unknown parameters about target extent, and also a particle implementation of the presented method is given. Simulation results validate the effectiveness of the presented method.