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For irregular extended object and group target tracking (IEOT and IGTT), using a random matrix to simplify the extension as an ellipsoid, although efficient, may not be accurate without losing useful information in shape and orientation. In view of this, we consider modeling an irregular extended object or target group as a combination of multiple regular sub-objects. Each sub-object can be described adequately by an ellipsoid represented by a random matrix. Different regular sub-objects are distinguished by different dynamic models. Based on such models, a Bayesian approach is then proposed to estimate the kinematic states and the extensions of the sub-objects. For maneuvering IEOT and IGTT, a multiple-model approach is proposed. Overall maneuver models are combined with the sub-object models to describe the common and the individual motions of the sub-objects. Two scenarios for maneuvering and non-maneuvering IEOT and IGTT are simulated. The results demonstrate the effectiveness of the proposed modeling and estimation approach.