Second-Order Extended Kalman Filter for Extended Object and Group\n Tracking

Abstract

In this paper, we propose a novel method for estimating an elliptic shape\napproximation of a moving extended object that gives rise to multiple scattered\nmeasurements per frame. For this purpose, we parameterize the elliptic shape\nwith its orientation and the lengths of the semi-axes. We relate an individual\nmeasurement with the ellipse parameters by means of a multiplicative noise\nmodel and derive a second-order extended Kalman filter for a closed-form\nrecursive measurement update. The benefits of the new method are discussed by\nmeans of Monte Carlo simulations for both static and dynamic scenarios.\n