rbpf for extentedtarget

Ref: Rao-Blackwellised Particle Filter for Star-Convex Extended Target Tracking Model

In this paper, the potential gains in using SMC methods for ETT models based on GP is explored. The existing random hypersurface based ETT models use EKF/UKF for inference, which may lead to poor performance under high uncertainty.

N. Wahlstrom and E. ¨ Ozkan, “Extended target tracking using Gaussian ¨processes,” IEEE Transactions on Signal Processing, vol. 63, no. 16,pp. 4165–4178, 2015.

An online Gaussian process regression problem is cast into a filtering problem by dereiving a dedciated state space model.