# Extended Object Tracking: Introduction, Overview and Applications

arXiv: https://arxiv.org/abs/1604.00970 · HTML: https://mlsanity.com/paper/1604.00970/

## Key facts

- Cited by 16 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Mar 2016.

## Built on by (most cited first, 16 of 16)

- [MotionTrack: End-to-End Transformer-based Multi-Object Tracing with LiDAR-Camera Fusion](https://mlsanity.com/paper/2306.17000/) (2023)
- [Neural Enhanced Belief Propagation for Multiobject Tracking](https://mlsanity.com/paper/2212.08340/) (2022)
- [Neural Enhanced Belief Propagation for Data Association in Multiobject Tracking](https://mlsanity.com/paper/2203.09948/) (2022)
- [A Review of Testing Object-Based Environment Perception for Safe Automated Driving](https://mlsanity.com/paper/2102.08460/) (2021)
- [Risk-based implementation of COLREGs for autonomous surface vehicles using deep reinforcement learning](https://mlsanity.com/paper/2112.00115/) (2021)
- [NeuRadar: Neural Radiance Fields for Automotive Radar Point Clouds](https://mlsanity.com/paper/2504.00859/) (2025)
- [SIRA: Scalable Inter-frame Relation and Association for Radar Perception](https://mlsanity.com/paper/2411.02220/) (2024)
- [Particle-Based Score Estimation for State Space Model Learning in Autonomous Driving](https://mlsanity.com/paper/2212.06968/) (2022)
- [A New Architecture for Neural Enhanced Multiobject Tracking](https://mlsanity.com/paper/2410.06294/) (2024)
- [Bayesian Multiobject Tracking With Neural-Enhanced Motion and Measurement Models](https://mlsanity.com/paper/2506.18124/) (2025)
- [A comparison of extended object tracking with multi-modal sensors in indoor environment](https://mlsanity.com/paper/2411.18476/) (2024)
- [Visual Sensor Pose Optimisation Using Visibility Models for Smart Cities](https://mlsanity.com/paper/2106.05308/) (2021)
- [Nonparametric Spatio-Temporal Joint Probabilistic Data Association Coupled Filter and Interfering Extended Target Tracking](https://mlsanity.com/paper/2311.16106/) (2023)
- [Extended Object Tracking and Classification based on Linear Splines](https://mlsanity.com/paper/2410.24183/) (2024)
- [3D Extended Object Tracking based on Extruded B-Spline Side View Profiles](https://mlsanity.com/paper/2503.10730/) (2025)
- [Poisson multi-Bernoulli mixture filter for trajectory measurements](https://mlsanity.com/paper/2504.08421/) (2025)

## Abstract (arXiv)

This article provides an elaborate overview of current research in extended object tracking. We provide a clear definition of the extended object tracking problem and discuss its delimitation to other types of object tracking. Next, different aspects of extended object modelling are extensively discussed. Subsequently, we give a tutorial introduction to two basic and well used extended object tracking approaches - the random matrix approach and the Kalman filter-based approach for star-convex shapes. The next part treats the tracking of multiple extended objects and elaborates how the large number of feasible association hypotheses can be tackled using both Random Finite Set (RFS) and Non-RFS multi-object trackers. The article concludes with a summary of current applications, where four example applications involving camera, X-band radar, light detection and ranging (lidar), red-green-blue-depth (RGB-D) sensors are highlighted.