An Approximate Bayesian Extended Target Tracking Algorithm
NAVAL RESEARCH LAB WASHINGTON DC WASHINGTON United States
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Extended target tracking treats clusters of detections from one or more targets as one large entity to be tracked. The simplest algorithms approximate the shape of the extended target using an ellipsoid. Modern algorithms for filtering measurements for extended target tracks are based on approximations to Bayes theorem. This memo presents a new, simple approximation to the measurement-update step of an extended target-tracking filter as well as a heuristic for track initialization. Like previous work, the filter uses a Gaussian approximation for the center of the target ellipsoid and an inverse-Wishart distribution to represent the uncertainty in the shape of the ellipsoid.
- Target Direction, Range and Position Finding