Tracking non-ellipsoidal extended objects using sequential Monte- Carlo

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2018
Kara, Süleyman Fatih
The problem of extended target tracking is considered in which the target extent is represented with multiple ellipses. The resulting inference problem, which is considered in the sequential Monte Carlo (SMC) framework, includes association of the measurements between sub-objects. We make use of different particle filtering approaches to solve the aforementioned association problem under the assumption of known extent. When the extent is unknown, parameters of the multiple ellipses should also be estimated. For this purpose, a particle filter based method is derived for joint estimation of target's kinematic and extent states. The proposed method uses variational Bayes technique to obtain an approximate conditional analytical expression, which enables the use of Rao-Blackwellization (a.k.a. marginalization) idea in particle filtering.

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Citation Formats
S. F. Kara, “Tracking non-ellipsoidal extended objects using sequential Monte- Carlo,” M.S. - Master of Science, Middle East Technical University, 2018.