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In this paper, multiple sensor measurement update is studied for a random matrix model. Four different updates are presented and evaluated: three updates based on parametric approximations of the extended target state probability density function and one update based on a Rao–Blackwellized (RB) particle approximation of the state density. An extensive simulation study shows that the RB particle approach...
This paper presents a model for tracking of extended targets whose extent cannot be described by a simple geometric shape such as an ellipse or a rectangle. The extended target shape is represented by a number Ns of elliptic subobjects, where Ns is assumed known. Because an extended target is a rigid body, the subobject positions must necessarily be estimated as a single state with unified kinematics,...
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