Extended Object Tracking using a Radar Resolution Model
Lars Hammarstrand, Lennart Svensson, Fredrik Sandblom, Joakim Sorstedt · IEEE Transactions on Aerospace and Electronic Systems · 2012
The work presented here concerns the problem of vehicle tracking when multiple radar reflection centers could be resolved on each vehicle. For this extended target tracking problem we propose a radar sensor model, capable of describing such measurements, incorporating sensor resolution. Furthermore, we introduce approximations to handle the inherently complex data association problem. The evaluation in terms of describing measured data and resulting tracking performance shows that the model effectively exploits the information in multiple vehicle detections.