A Tutorial on Multiple Extended Object Tracking
- Karl Granström ,
- Marcus Baum
Abstract
This tutorial introduces state-of-the-art methods for tracking multiple
spatially extended objects based on unlabeled noisy point clouds, e.g.,
from radar or lidar sensors. In the first part, the focus lies on
tracking a single extended object, i.e., the objective is to
simultaneously estimate the shape and position of a moving object based
on spatially distributed noisy detections. Model-based approaches for
tracking elliptical and star-convex shaped objects are treated.
Furthermore, recent learning-based approaches are discussed, which learn
the spatial distribution of detections from real data. The second part
considers the track management and data association problem, i.e., the
initialization and termination of tracks as well as the association of
detections to objects. After an in-depth analysis of the data
association problem for extended objects, various data association
approaches are discussed. Finally, recent frameworks for multiple
extended object tracking are introduced such as the random finite
set-based Poisson multi-Bernoulli mixture framework.