Journal
SIGNAL PROCESSING
Volume 217, Issue -, Pages -Publisher
ELSEVIER
DOI: 10.1016/j.sigpro.2023.109321
Keywords
Extended target; Convex hull; Data association; Self-occlusion
Categories
Ask authors/readers for more resources
This paper discusses the problem of extended target tracking for a single 2D extended target with a known convex polytope shape and dynamics. It proposes a framework based on the existing point multitarget tracking framework to address the challenges of uncertainty in shape and kinematics, as well as self-occlusion. The algorithm developed using this framework is capable of dynamically changing the number of parameters used to describe the shape and estimating the whole target shape even when different parts of the target are visible at different frames.
This paper discusses the problem of extended target tracking for a single 2D extended target with a convex polytopic shape and known dynamics. Extended targets are those that produce multiple measurements for a single frame. One of the major challenges in extended target tracking is the joint uncertainty in the shape and the kinematics of the target. Another challenge is the lack of visibility due to self-occlusion in targets with a finite extent (as opposed to zero extent for point targets). To address these challenges, we develop a framework for tracking single (or widely separated) extended targets. This framework is based on the existing point multitarget tracking framework by modeling different parts of an extended target as separate targets. An algorithm is developed using the proposed framework for tracking convex polytope-shaped targets. The proposed shape function consists only of the boundary of the target since the center may not be observable. The algorithm is capable of dynamically changing the number of parameters used to describe the shape as more parts of the target become visible over time. The performance of the algorithm is evaluated for various scenarios using root mean square error (RMSE) of velocity, center, and intersection over union (IoU) metrics. It is seen that the algorithm is able to handle the self-occlusion problem and estimate the whole target shape even when different parts of the target are visible at different frames, for various shapes, and for various conditions of measurement noise covariance and number of measurements. New faces are added to the shape estimate as more parts of the target become visible. The algorithm is able to conserve the parts of the target that were visible in the previous frames but are no longer visible.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available