CPHD filter derivation for extended targets

TL;DR

This paper derives the CPHD filter for extended targets focusing on the update step, demonstrating its reduction to existing filters under certain assumptions.

Contribution

It introduces the CPHD filter derivation specifically for extended targets and proves its relation to existing filters.

Findings

Derived the CPHD filter update step for extended targets.

Proved the filter reduces to PHD and standard CPHD filters under specific conditions.

Assumed measurement, false alarms, and prior as i.i.d. cluster processes.

Abstract

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.