Tracking extended targets - a switching algorithm versus the SJPDAF

Tracking extended targets is of central interest in mobile robotics as it is a prerequisite for interaction with the environment. There are significant differences between tracking punctiform targets and tracking extended targets. Most of the existing algorithms assume the targets to be punctiform, which is not always suitable. In recent years, two advanced algorithms for tracking extended targets have been developed by the authors-a switching algorithm and the SJPDAF. The switching algorithm uses the Kalman filter and an adapted version of the Viterbi algorithm, which includes certain geometrical characteristics of the problem. The SJPDAF combines the idea of particle filtering with the JPDAF. In this paper we present these two algorithms and compare them with respect to accuracy, speed and robustness in case of crossing targets. We show, that the more recently developed switching algorithm outperforms the SJPDAF regarding these criterions.