ACTA AERONAUTICAET ASTRONAUTICA SINICA >
A Hybrid Approach for Extended Object Tracking
Received date: 2013-07-23
Revised date: 2013-09-21
Online published: 2013-09-24
Supported by
Aeronautical Science Foundation of China (20128058006)
Different from the traditional object tracking technology, extended object tracking (EOT) doesn't ignore the target's physical extension. Instead, EOT simultaneously estimates both the centroid's kinematical state and the physical extension of the target. A random matrix based EOT approach characterizes the physical extension with a random symmetrical positive definite matrix, i.e. the ellipse/ellipsoid, and establishes a measurement model which is suitable for EOT. In order to improve the tracking performance when the target maneuvers, an ellipse/ellipsoid fitting based EOT approach is proposed based on the relationship between the ellipse/ellipsoid and the symmetrical positive definite matrix. Furthermore, a hybrid approach for EOT is presented to combine the advantages of the abovementioned two EOT approaches. Simulation results show that the hybrid approach can appropriately decide whether the target is maneuvering and choose a better approach. The physical extension estimation error of the hybrid approach is lower than the other approaches, and the estimation performance of the centroid's kinematical state is also better.
LI Borui , MU Chundi , BAI Tianming , LIU Zhijuan . A Hybrid Approach for Extended Object Tracking[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2014 , 35(5) : 1336 -1346 . DOI: 10.7527/S1000-6893.2013.0400
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