CPHD filter derivation for extended targets

Details CPHD filter derivation for extended targets CPHD filter derivation for extended targets

2010-11-05

arxiv.org/abs/1011.1512v2

Mathematics

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Scientific paper

This document derives the CPHD filter for extended targets. Only the update step is derived here. Target generated measurements, false alarms and prior are all assumed to be independent identically distributed cluster processes. We also prove here that the derived CPHD filter for extended targets reduce to PHD filter for extended targets and CPHD filter for standard targets under suitable assumptions.

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