DocumentCode
104030
Title
Extended Object Tracking with Random Hypersurface Models
Author
Baum, Marcus ; Hanebeck, Uwe D.
Author_Institution
Inst. for Anthropomatics, Karlsruhe Inst. of Technol., Karlsruhe, Germany
Volume
50
Issue
1
fYear
2014
fDate
Jan-14
Firstpage
149
Lastpage
159
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.
Keywords
Gaussian processes; approximation theory; geometry; object tracking; shape measurement; state estimation; Gaussian state estimator; RHM; elliptic shapes; extended object tracking; kinematic state; measurement equation; random hypersurface models; shape approximation estimation; shape boundary; shape parameters; star-convex shapes; Approximation methods; Gaussian processes; Shape; Shape measurement; State estimation; Target tracking;
fLanguage
English
Journal_Title
Aerospace and Electronic Systems, IEEE Transactions on
Publisher
ieee
ISSN
0018-9251
Type
jour
DOI
10.1109/TAES.2013.120107
Filename
6809906
Link To Document