Random Hypersurface Models for Extended Object Tracking

Target tracking algorithms usually assume that the received measurements stem from a point source. However, in many scenarios this assumption is not feasible so that measurements may stem from different locations, named measurement sources, on the target surface. Then, it is necessary to incorporate the target extent into the estimation procedure in order to obtain robust and precise estimation results. This paper introduces the novel concept of Random Hypersurface Models for extended targets. A Random Hypersurface Model assumes that each measurement source is an element of a randomly generated hypersurface. The applicability of this approach is demonstrated by means of an elliptic target shape. In this case, a Random Hypersurface Model specifies the random (relative) Mahalanobis distance of a measurement source to the center of the target object. As a consequence, good estimation results can be obtained even if the true target shape significantly differs from the modeled shape. Additionally, Random Hypersurface Models are computationally tractable with standard nonlinear stochastic state estimators.