Multiple Target Tracking on SE(2) Using Recursive-RANSAC

This paper introduces an algorithm for multiple target tracking where the tracks are evolving on the Special Euclidean group SE(2). Applications include tracking ground targets using cameras on-board a hovering multirotor UAV. Our approach extends the Recursive RANSAC (R-RANSAC) algorithm to nonlinear motion models. In particular, we show how tracks can be initialized in the presence of significant measurement clutter in a way that leads to computationally efficient implementation. Simulation and flight results show significant tracking improvement over using linear constant velocity models.