A Rao-Blackwellized Particle Filter for Superelliptical Extended Target Tracking
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866912215993417728 |
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| author | Yurdakul, Oğul Can Çetinkaya, Mehmet Çelebi, Enescan Özkan, Emre |
| author_facet | Yurdakul, Oğul Can Çetinkaya, Mehmet Çelebi, Enescan Özkan, Emre |
| contents | In this work, we propose a new method to track extended targets of different shapes such as ellipses, rectangles and rhombi. We provide an analytical framework to express these shapes as superelliptical contours and propose a Bayesian filtering scheme that can handle measurements from the contour of the object. The method utilizes the Rao-Blackwellized particle filtering algorithm with novel sensor-object geometry constraints. The success of the algorithm is demonstrated using both simulations and real-data experiments, and the algorithm has been demonstrated to be of high performance in various challenging scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_10389 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Rao-Blackwellized Particle Filter for Superelliptical Extended Target Tracking Yurdakul, Oğul Can Çetinkaya, Mehmet Çelebi, Enescan Özkan, Emre Signal Processing In this work, we propose a new method to track extended targets of different shapes such as ellipses, rectangles and rhombi. We provide an analytical framework to express these shapes as superelliptical contours and propose a Bayesian filtering scheme that can handle measurements from the contour of the object. The method utilizes the Rao-Blackwellized particle filtering algorithm with novel sensor-object geometry constraints. The success of the algorithm is demonstrated using both simulations and real-data experiments, and the algorithm has been demonstrated to be of high performance in various challenging scenarios. |
| title | A Rao-Blackwellized Particle Filter for Superelliptical Extended Target Tracking |
| topic | Signal Processing |
| url | https://arxiv.org/abs/2406.10389 |