Bayesian approach to extended object and cluster tracking using random matrices

By Johannes Koch. IEEE Transactions on Aerospace and Electronic Systems, 2008

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Extended Object Tracking: Introduction, Overview and Applications (2016, methodology): “The difference between the uniform distribution (12) and its Gaussian approximation (13) is illustrated in Figure 8, see subﬁgures a and b.”
A phd Filter for Tracking Multiple Extended Targets Using Random Matrices (2012, methodology): “We then show how the prediction and the measurement updates can be performed as was done in the single target case in [19], and also give a likelihood function suitable to handle multiple extended targets.”
A Tutorial on Bernoulli Filters: Theory, Implementation and Applications (2013, background): “Similarly to [72], defines the elements of the covariance matrix which determines the spread of a Gaussian PDF with mean .”