PMBM Filter for Contour Extended Object Tracking
Kejie Zhang, Peng Li, Youpeng Sun, Wenhui Wang, Wenjie Zhang · Atlantis highlights in social sciences, education and humanities/Atlantis Highlights in Social Sciences, Education and Humanities · 2025
The Poisson Multi-Bernoulli Mixture (PMBM) filter is used for multitarget tracking in complex scenes.However, since 2D LiDAR generates measurements only at the target's edge, it provides partial contour information at each moment.As the target moves or its relative position to the radar changes, measurements at different times originate from different edges of the target.During tracking, the traditional PMBM filter updates using only the previous extended state, without considering the target's contour structure.This causes position deviation and difficulties in distinguishing targets when they are close or intersecting.This paper presents a multi-component edge extension model that represents the target's edge contour as multiple extended components.This allows more accurate division and tracking during multi-target maneuvering and intersection.