Multisensor JiFi Tracking of Extended Objects

A multisensor, multiobject tracking filter for extended objects is proposed. Objects are observed via measured point highlights. No restrictions are made about object shape. The number of objects is given. The sensors may be heterogeneous. It is assumed that the spatial diversity of the sensor field relative to the objects under track is such that sensors observe different sets of highlights from each object. Examples are given for two idealized kinds of sensor reports-position-only contacts and bearings-only contacts.