Key points are not available for this paper at this time.
The work presented here concerns the problem of vehicle tracking when multiple radar reflection centers could be resolved on each vehicle. For this extended target tracking problem we propose a radar sensor model, capable of describing such measurements, incorporating sensor resolution. Furthermore, we introduce approximations to handle the inherently complex data association problem. The evaluation in terms of describing measured data and resulting tracking performance shows that the model effectively exploits the information in multiple vehicle detections.
Hammarstrand et al. (Sun,) studied this question.