Modeling for tracking of complex extended object using Minkowski addition

This paper considers modeling for tracking of extended objects using measurements of down-range and cross-range extent. Modeling smooth/non-smooth objects of complex geometric shapes using support functions and extended Gaussian images, although efficient, may not be easily obtained. In view of this, the approaches based on support functions and extended Gaussian images are extended and further developed. In this paper, we attempt to model a complex extended object as a Minkowski addition of multiple simple sub-objects, each represented by a support function or extended Gaussian image. Due to favorable properties of the Minkowski addition, the new approach can make full use of common and individual properties of sub-objects and capture more detailed shape information. This facilitates not only object modeling, but also derivation of tracking algorithms. Thus the proposed approach can be extended to the case with a variety of complex objects. Simulation results demonstrated the benefits of the proposed approach.