Extended object tracking using control-points-based extension deformation

Our newly proposed approach to extended object tracking (EOT) using extension deformation is simple and effective. This approach assumes that the extension of an object is deformed from an ellipsoidal reference extension, which unfortunately restricts its use for complex extensions. To overcome this weakness, this paper proposes that the current object extension be modeled as deformed from the one at the previous time without using a reference extension. This deformation can be fully described by the evolution of several control points on the extension. Then modeling and estimation of the extension can be reduced to those of the control points, which are treated as the state components of the extension. This new approach fits the reality better than the existing one, so a more complex or time-varying extension can be accurately described and estimated. To evaluate what is proposed, a simulation study of maneuvering EOT is carried out. The results demonstrate the benefits of the proposed approach.