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This paper presents a novel approach to track a nonconvex shape approximation of an extended target based on noisy point measurements. For this purpose, a novel type of random hypersurface model (RHM) called Level-set RHM is introduced that models the interior of a shape with level-sets of an implicit function. Based on the Level-set RHM, a nonlinear measurement equation can be derived that allows...
In this paper, we propose a novel approach to track extended objects by incorporating negative information. While traditional techniques to track extended targets use only positive measurements, assumed to stem from the target, the proposed estimator is also capable of incorporating negative measurements, which tell us where the target cannot be. To achieve this, we introduce a simple, robust, and...
In this paper, we propose a novel approach to track elongated, curved extended targets by representing their shapes with splines. Elongated shapes are forms whose length is much larger than their width, and can be found in many places, such as in connected vehicles like trains, in group targets like a caravan moving along a curved street, or even when estimating the pose of a person. A particular...
This paper presents a novel method for tracking multiple extended objects. The shape of a single extended object is modeled with a recently developed approach called Random Hypersurface Model (RHM) that assumes a varying number of measurement sources to lie on scaled versions of the shape boundaries. This approach is extended by introducing a so-called Mixture Random Hypersurface Model (Mixture RHM),...
This paper is about tracking an extended object or a group target, which gives rise to a varying number of measurements from different measurement sources. For this purpose, the shape of the target is tracked in addition to its kinematics. The target extent is modeled with a new approach called Random Hypersurface Model (RHM) that assumes varying measurement sources to lie on scaled versions of the...
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