Extended Target Tracking Under Multitarget Tracking Framework for Convex Polytope Shapes

This paper discusses the problem of extended target tracking for a single 2D extended target with a convex polytopic shape and known dynamics. Extended targets produce multiple measurements for a single frame. One of the major challenges in extended tracking is the joint uncertainty in the shape and the kinematics of the target. Another challenge is the lack of visibility due to self occlusion in targets with a finite extent (as opposed to zero …