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

被引：0
|
作者：
Yang, Shishan [1 ]
Baum, Marcus [1 ]
机构：
[1] Univ Gottingen, Inst Comp Sci, Gottingen, Germany
来源：
2016 19TH INTERNATIONAL CONFERENCE ON INFORMATION FUSION (FUSION) | 2016年
关键词：
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
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.
引用
收藏
页码：1178 / 1184
页数：7
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