Extended OBJECT TRACKING: Introduction, overview, and applications
Artikel i vetenskaplig tidskrift, 2017

This article provides an elaborate overview of current research in extended object tracking. We provide a clear definition of the extended object tracking problem and discuss its delimitation to other types of object tracking. Next, different aspects of extended object modelling are extensively discussed. Subsequently, we give a tutorial introduction to two basic and well used extended object tracking approaches-the random matrix approach and the Kalman filter-based approach for star-convex shapes. The next part treats the tracking of multiple extended objects and elaborates how the large number of feasible association hypotheses can be tackled using both Random Finite Set (RFS) and Non-RFS multi-object trackers. The article concludes with a summary of current applications, where four example applications involving camera, X-band radar, light detection and ranging (LIDAR), and red-green-blue-depth (RGB-D) sensors are highlighted.


Karl Granström

Chalmers, Signaler och system, Signalbehandling och medicinsk teknik

M. Baum

Georg-August-Universität Göttingen

S. Reuter

Universität Ulm

Journal of Advances in Information Fusion

15576418 (eISSN)

Vol. 12 2 139-174

COPPLAR CampusShuttle cooperative perception & planning platform

VINNOVA (2015-04849), 2016-01-01 -- 2018-12-31.


Elektroteknik och elektronik

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