Rectangular extended object tracking with box particle filter using dynamic constraints

. Extended objects generate multiple measurements and are characterised with their size or volume. They require methods able to deal with the data association problem and at the same time to estimate both their kinematic states and shape parameters. This paper presents a solution to the extended object tracking for rectangular extended objects, with the Box Particle filter (Box PF) approach. The Box PF is implemented based on dynamically calculated constraints. Promising results are demonstrated.