Bayesian approach to extended object and cluster tracking using random matrices

In algorithms for tracking and sensor data fusion the targets to be observed are usually considered as point source objects; i.e., compared with the sensor resolution their extension is neglected. Due to the increasing resolution capabilities of modern sensors, however, this assumption is often no longer valid as different scattering centers of an object can cause distinct detections when passing the signal processing chain. Examples of extended targets are found in short-range applications (littoral surveillance, autonomous weapons, or robotics). A collectively moving target group can also be considered as an extended target. This point of view is the more appropriate, the smaller the mutual distances between…