Extended Object Tracking: Introduction, Overview and Applications

Abstract

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), red-green-blue-depth (RGB-D) sensors are highlighted.

arXiv comment30 pages, 19 figures

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• An Overview of Multi-Object Estimation via Labeled Random Finite Set
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• Distributed Extended Object Tracking Using Coupled Velocity Model from WLS Perspective
• Fast 3D Extended Target Tracking using NURBS Surfaces
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• Solgenia -- A Test Vessel Toward Energy-Efficient Autonomous Water Taxi Applications
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• Probabilistic Constraint Tightening Techniques for Trajectory Planning with Predictive Control