Extended Object Tracking with Random Hypersurface Models
Abstract:
The random hypersurface model (RHM) is introduced 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.
| Zugehörige Institution(en) am KIT | Institut für Anthropomatik und Robotik (IAR) |
| Publikationstyp | Zeitschriftenaufsatz |
| Publikationsmonat/-jahr | 01.2014 |
| Sprache | Englisch |
| Identifikator | ISSN: 0018-9251 KITopen-ID: 1000122360 |
| Erschienen in | IEEE transactions on aerospace and electronic systems |
| Verlag | Institute of Electrical and Electronics Engineers (IEEE) |
| Band | 50 |
| Heft | 1 |
| Seiten | 149–159 |
| Nachgewiesen in | Web of Science OpenAlex Dimensions Scopus |
| Relationen in KITopen |