Gamma Gaussian Inverse Wishart Probability Hypothesis Density for Extended Target Tracking Using X-Band Marine Radar Data

Spatio-Temporal Gaussian Process Models for Extended and Group Object Tracking With Irregular Shapes

“…An STGP is a stochastic process model for systems evolving in both space and time [22]. Let the spatial input be represented by θ and the temporal input is represented by t, then an STGP can be used to model a functional mapping from the input to the output r of the form given below: (6) where µ(θ, t) and k(θ, θ ′ ; t, t ′ ) represent, respectively, the mean and the covariance kernel of the STGP model. The STGP regression can be determined in the same way as the GP regression explained in Subsection II-A.…”

Bayesian Multiple Extended Target Tracking Using Labeled Random Finite Sets and Splines

“…This has a closed form solution given by: (29) where Σ k −1 denotes the covariance of control points.…”

“…For the first approach mentioned (i.e., assuming a general parametric shape), the most common technique used is the random matrix method proposed in [10] where the ET extension was modelled as a symmetric positive definite matrix (i.e., the ET is assumed to be elliptical). This method has been applied in various scenarios in both LIDAR and marine radar tracking (see e.g., [28] and [29]). However, this method has limitations as its performance depends inherently on the elliptic shape assumption.…”

Adaptive Measurement Partitioning Algorithm for a Gaussian Inverse Wishart PHD Filter that Tracks Closely Spaced Extended Targets

“…Extended target tracking (ETT) is a vibrant area of research and has received increasing attention in recent years [5][6][7][8][9][10]. This is especially true for multiple extended target tracking (METT) [11][12][13][14][15][16][17].…”

“…Therefore, the RM approach can be employed in ETT to estimate the target extension state of a METT PHD filter. More discussion on determining the parameters of a GIW-PHD filter can be found in [15], [16], and the implementation of a GIW-PHD filter in X-band marine radar is introduced in [17]. However, when targets are spatially close and performing maneuvers, the target states will be incorrectly estimated.…”