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Extended Object Tracking based on Combined Set-Theoretic and Stochastic Fusion

Baum, Marcus 1; Hanebeck, Uwe D. 1
1 Karlsruher Institut für Technologie (KIT)


In this paper, a novel approach for tracking extended objects is presented. The target object is modeled as a circular disc such that the center and extent of the target object can be estimated. At each time step, a finite set of position measurements that are corrupted with stochastic noise may be available. Each position measurement stems from an unknown measurement source on the extended object. In contrast to existing approaches, no statistical assumptions about the distribution of the measurement sources on the extended object are made. As a consequence, it is necessary to deal with stochastic and set-valued uncertainties. For this purpose, a novel combined stochastic and set-theoretic estimator that employs random hyperboloids to express the uncertainties about the true circular disc is derived.

Volltext §
DOI: 10.5445/IR/1000034954
Zitationen: 26
Cover der Publikation
Zugehörige Institution(en) am KIT Fakultät für Informatik – Institut für Anthropomatik (IFA)
Publikationstyp Proceedingsbeitrag
Publikationsjahr 2009
Sprache Englisch
Identifikator ISBN: 978-0-9824-4380-4
KITopen-ID: 1000034954
Erschienen in Proceedings of the 12th International Conference on Information Fusion (Fusion 2009), Seattle, Washington, USA, 6-9 July 2009
Verlag Institute of Electrical and Electronics Engineers (IEEE)
Seiten 1288-1295
Nachgewiesen in Scopus
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