06.1 - Flight Dynamics and Control (Control & Modelling)
AFFINE-INVARIANT ELLIPTICAL STATE ESTIMATION FOR ROBUST EXTENDED OBJECT TRACKING
I.H. Lee, Korea Institute of Industrial Technology, South Korea
Extended object tracking is challenging due to multiple measurements and partial contour observations. The proposed method extracts affine-invariant elliptical features from incomplete data and estimates object shape and motion via algebraic ellipse fitting. A Kalman filter–based Bayesian framework ensures robust and efficient tracking, validated through comparative experiments.
DOI: 10.71945/icas2026_0344