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Extended Object Tracking with Random Hypersurface Models

Baum, Marcus; Hanebeck, Uwe D.

Abstract:
The Random Hypersurface Model (RHM) is introduced that allows for estimating a shape approximation of an extended object in addition to its kinematic state. An RHM represents the spatial extent by means of randomly scaled versions of the shape boundary. In doing so, the shape parameters and the measurements are related via a measurement equation that serves as the basis for a Gaussian state estimator. Specific estimators are derived for elliptic and star-convex shapes.

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Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Forschungsbericht/Preprint
Publikationsdatum 18.04.2013
Sprache Englisch
Identifikator KITopen-ID: 1000120232
Umfang 17 S.
Nachgewiesen in arXiv
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