EXTENDED KALMAN FILTER FOR EXTENDED OBJECT TRACKING

被引：0
|
作者：
Yang, Shishan [1 ]
Baum, Marcus [1 ]
机构：
[1] Univ Gottingen, Inst Comp Sci, Gottingen, Germany
来源：
2017 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH AND SIGNAL PROCESSING (ICASSP) | 2017年
关键词：
Extended object tracking; multiplicative noise; Kalman filter; extended Kalman filter;
D O I：
暂无
中图分类号：
O42 [声学];
学科分类号：
070206 ; 082403 ;
摘要：
In this work, we present a novel method for tracking an elliptical shape approximation of an extended object based on a varying number of spatially distributed measurements. For this purpose, an explicit nonlinear measurement equation is formulated that relates the kinematic and shape parameters to a measurement by means of a multiplicative noise term. Based on the measurement equation, we derive an extended Kalman filter (EKF) for a closed-form recursive measurement update. The performance of the proposed method is demonstrated with simulations.
引用
收藏
页码：4386 / 4390
页数：5
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