Extended Object Tracking: Introduction, Overview and Applications

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.Comment: 30 pages, 19 figure

Poisson multi-Bernoulli conjugate prior for multiple extended object filtering

This paper presents a Poisson multi-Bernoulli mixture (PMBM) conjugate prior for multiple extended object filtering. A Poisson point process is used to describe the existence of yet undetected targets, while a multi-Bernoulli mixture describes the distribution of the targets that have been detected. The prediction and update equations are presented for the standard transition density and measurement likelihood. Both the prediction and the update preserve the PMBM form of the density, and in this sense the PMBM density is a conjugate prior. However, the unknown data associations lead to an intractably large number of terms in the PMBM density, and approximations are necessary for tractability. A gamma Gaussian inverse Wishart implementation is presented, along with methods to handle the data association problem. A simulation study shows that the extended target PMBM filter performs well in comparison to the extended target d-GLMB and LMB filters. An experiment with Lidar data illustrates the benefit of tracking both detected and undetected targets

Altimetric system: Earth observing system. Volume 2h: Panel report

A rationale and recommendations for planning, implementing, and operating an altimetric system aboard the Earth observing system (Eos) spacecraft is provided. In keeping with the recommendations of the Eos Science and Mission Requirements Working Group, a complete altimetric system is defined that is capable of perpetuating the data set to be derived from TOPEX/Poseidon, enabling key scientific questions to be addressed. Since the scientific utility and technical maturity of spaceborne radar altimeters is well documented, the discussion is limited to highlighting those Eos-specific considerations that materially impact upon radar altimetric measurements

Remote sensing in the coastal and marine environment. Proceedings of the US North Atlantic Regional Workshop

Presentations were grouped in the following categories: (1) a technical orientation of Earth resources remote sensing including data sources and processing; (2) a review of the present status of remote sensing technology applicable to the coastal and marine environment; (3) a description of data and information needs of selected coastal and marine activities; and (4) an outline of plans for marine monitoring systems for the east coast and a concept for an east coast remote sensing facility. Also discussed were user needs and remote sensing potentials in the areas of coastal processes and management, commercial and recreational fisheries, and marine physical processes

Radar, Insect Population Ecology, and Pest Management

Discussions included: (1) the potential role of radar in insect ecology studies and pest management; (2) the potential role of radar in correlating atmospheric phenomena with insect movement; (3) the present and future radar systems; (4) program objectives required to adapt radar to insect ecology studies and pest management; and (5) the specific action items to achieve the objectives

Advanced study of coastal zone oceanographic requirements for ERTS E and F

Earth Resources Technology Satellites E and F orbits and remote sensor instruments for coastal oceanographic data collectio

Technical approaches, chapter 3, part E

Radar altimeters, scatterometers, and imaging radar are described in terms of their functions, future developments, constraints, and applications

A Multispectral Look at Oil Pollution Detection, Monitoring, and Law Enforcement

The problems of detecting oil films on water, mapping the areal extent of slicks, measuring the slick thickness, and identifying oil types are discussed. The signature properties of oil in the ultraviolet, visible, infrared, microwave, and radar regions are analyzed

Technical background, chapter 3, part B

A description is given of the physics of electromagnetic scattering from the sea and a guideline is presented to relate an observable (such as the radar cross section) to the hydrodynamics or physical properties of the sea. As specific examples of the interdisciplinary science of electromagnetics and geophysical oceanography, the physics is discussed in connection with data provided by three instruments: namely, the scatterometer, the altimeter, and the imaging radar. The data provided by each instrument are discussed in context with specular point and Bragg scattering theories. Finally, the degrading effect of extraneous sources of noise is discussed as a limiting mechanism of the accuracy of the ocean surface measurement