The sequential Monte Carlo multi-Bernoulli filter for extended targets

The multi-Bernoulli (MB) filter for extended targets has been derived recently. However, the implementation of the extended target (ET) MB filter for nonlinear non-Gaussian models has not been presented. In this paper, we propose the sequential Monte Carlo (SMC) implementation of the ET-MB filter for estimating multiple extended targets by using the SMC technique and measurement partitioning algorithm. Simulation results demonstrate that the estimation performance of the SMC-ET-MB filter is superior to that of the standard SMC-MB filter for extended target measurement models.