B-spline Model for Extended Object Tracking Based on Sequential Fusion

The B-spline model for extended object tracking (EOT) based on sequential fusion is proposed to improve EOT accuracy and reduce the effect of initial value. It uses B-spline model to construct target extension, and estimates the kinematic state and contour using sequential fusion. The measurement update using sequential fusion takes the previous measurement update as the initial value. Therefore, the B-spline model for EOT based on sequential fusion is characterized by high accuracy and tolerance to initial value error. Finally, a typical extended object tracking scenario is simulated, and the experimental results show that the tracking performance of the new method is outperform than the current method.