《Extended target tracking with a cardinalized probabiltiy hypothesis density filter》.pdf

Extended Target Tracking with a Cardinalized Probability Hypothesis Density Filter ¨ Umut Orguner, Christian Lundquist and Karl Granstrom Department of Electrical Engineering ¨ Linkoping University ¨ 581 83 Linkoping Sweden Email: {umut,lundquist,karl}@isy.liu.se Abstract—This paper presents a cardinalized probability hy- is taken in [3], where the so-called track-before-detect theory pothesis density (CPHD) filter for extended targets that can is used to track a point target with a 1-D extent. Koch has result in multiple measurements at each scan. The probability recently developed a Bayesian random matrix approach in hypothesis density (PHD) filter for such targets has already been derived by Mahler and a Gaussian mixture implementation [4] to track extended and group targets which was further has been proposed recently. This work relaxes the Poisson improved in [5]. assumptions of the extended target PHD filter in target and Random finite set statistics (FISST) proposed by Mahler measurement numbers to achieve better estimation performance. has become a rigorous framework for target tracking adding A Gaussian mixture implementation is described. The early the approximate Bayesian filters