A Comparison of Kalman Filter-based Approaches for Elliptic Extended Object Tracking Article Swipe

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Kolja Thormann , Shishan Yang , Marcus Baum ·

YOU? · · 2020 · Open Access · · DOI: https://doi.org/10.23919/fusion45008.2020.9190375

In this work, we discuss and compare Kalman filter-based approaches for tracking an elliptic extended object parameterized with orientation and semi-axes lengths. The methods include an Extended Kalman filter (EKF) implementation of the Random Hypersurface Model (RHM) approach using a radial function, an EKF-based approach for the Multiplicative Error Model (MEM), called MEM-EKF*, and a method for tracking the semi-axes independently, the Independent Axes Estimation (IAE) approach. We discuss pros and cons of the methods and compare them in various scenarios with a maneuvering object.

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Extended Kalman filter Kalman filter Invariant extended Kalman filter Orientation (vector space) Computer science Tracking (education) Alpha beta filter Fast Kalman filter Multiplicative function Object (grammar) Parameterized complexity Hypersurface Computer vision Filter (signal processing) Artificial intelligence Control theory (sociology) Algorithm Mathematics Moving horizon estimation Geometry Control (management) Mathematical analysis Psychology Pedagogy

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Type: article
Language: en
Landing Page: https://doi.org/10.23919/fusion45008.2020.9190375
OA Status: gold
Cited By: 26
References: 45
Related Works: 10
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DOI: https://doi.org/10.23919/fusion45008.2020.9190375

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Title: A Comparison of Kalman Filter-based Approaches for Elliptic Extended Object Tracking

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Language: en

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Publication year: 2020

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Publication date: 2020-07-01

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Authors: Kolja Thormann, Shishan Yang, Marcus Baum

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Landing page: https://doi.org/10.23919/fusion45008.2020.9190375

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Concepts: Extended Kalman filter, Kalman filter, Invariant extended Kalman filter, Orientation (vector space), Computer science, Tracking (education), Alpha beta filter, Fast Kalman filter, Multiplicative function, Object (grammar), Parameterized complexity, Hypersurface, Computer vision, Filter (signal processing), Artificial intelligence, Control theory (sociology), Algorithm, Mathematics, Moving horizon estimation, Geometry, Control (management), Mathematical analysis, Psychology, Pedagogy

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Cited by: 26

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cited_by_percentile_year.max	99
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countries_distinct_count	1
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citation_normalized_percentile.is_in_top_10_percent	True