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In this paper, we propose a novel method for estimating an elliptic shape of a moving extended object that gives rise to multiple scattered per frame. For this purpose, we parameterize the elliptic shape its orientation and the lengths of the semi-axes. We relate an individual with the ellipse parameters by means of a multiplicative noise and derive a second-order extended Kalman filter for a closed-form measurement update. The benefits of the new method are discussed by of Monte Carlo simulations for both static and dynamic scenarios.
Yang et al. (Fri,) studied this question.