# Fast 3D Extended Target Tracking using NURBS Surfaces

arXiv: https://arxiv.org/abs/1909.00767 · HTML: https://mlsanity.com/paper/1909.00767/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Sep 2019.

## Built on by (most cited first, 1 of 1)

- [3D Extended Object Tracking based on Extruded B-Spline Side View Profiles](https://mlsanity.com/paper/2503.10730/) (2025)

## Abstract (arXiv)

This paper proposes fast and novel methods to jointly estimate the target's unknown 3D shape and dynamics. Measurements are noisy and sparsely distributed 3D points from a light detection and ranging (LiDAR) sensor. The methods utilize non-uniform rational B-splines (NURBS) surfaces to approximate the target's shape. One method estimates Cartesian scaling parameters of a NURBS surface, whereas the second method estimates the corresponding NURBS weights, too. Major advantages are the capability of estimating a fully 3D shape as well as the fast processing time. Real-world evaluations with a static and dynamic vehicle show promising results compared to state-of-the-art 3D extended target tracking algorithms.