# A Rao-Blackwellized Particle Filter for Superelliptical Extended Target Tracking

arXiv: https://arxiv.org/abs/2406.10389 · HTML: https://mlsanity.com/paper/2406.10389/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Jun 2024.

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

- [Extended Object Tracking and Classification based on Linear Splines](https://mlsanity.com/paper/2410.24183/) (2024)

## Abstract (arXiv)

In this work, we propose a new method to track extended targets of different shapes such as ellipses, rectangles and rhombi. We provide an analytical framework to express these shapes as superelliptical contours and propose a Bayesian filtering scheme that can handle measurements from the contour of the object. The method utilizes the Rao-Blackwellized particle filtering algorithm with novel sensor-object geometry constraints. The success of the algorithm is demonstrated using both simulations and real-data experiments, and the algorithm has been demonstrated to be of high performance in various challenging scenarios.