TY - CHAP U1 - Konferenzveröffentlichung A1 - Hoher, Patrick A1 - Reuter, Johannes A1 - Govaers, Felix A1 - Koch, Wolfgang T1 - Tracking of Partially Visible Elliptical Objects with a Lidar Sensor using Random Matrices and a Virtual Measurement Model T2 - Sensor Data Fusion: Trends, Solutions, Applications (SDF), 12-14 Oct. 2022, Bonn, Germany N2 - Virtual measurement models (VMM) can be used to generate artificial measurements and emulate complex sensor models such as Lidar. The input of the VMM is an estimation and the output is the set of measurements this estimation would cause. A Kalman filter with extension estimation based on random matrices is used to filter mean and covariance of the real measurements. If these match the mean and covariance of the artificial measurements, then the given estimation is appropriate. The optimal input of the VMM is found using an adaptation algorithm. In this paper, the VMM approach is expanded for multi-extended object tracking where objects can be occluded and are only partially visible. The occlusion can be compensated if the extension estimation is performed for all objects together. The VMM now receives as input an estimation for the multi-object state and the output are the measurements that this multi-object state would cause. KW - Multi-extended object tracking KW - Random matrices KW - Lidar KW - Virtual measurement model KW - Extension estimation KW - Occlusion Y1 - 2022 SN - 978-1-6654-8672-9 SB - 978-1-6654-8672-9 SN - 978-1-6654-8673-6 SB - 978-1-6654-8673-6 U6 - https://doi.org/10.1109/SDF55338.2022.9931696 DO - https://doi.org/10.1109/SDF55338.2022.9931696 N1 - Volltextzugriff für Angehörige der Hochschule Konstanz via Datenbank IEEE Xplore möglich SP - 6 S1 - 6 PB - IEEE ER -