Extended object tracking when irregular star convex mutations

In this paper, for extended object tracking in the case of mutation of irregular stars convex shape, using Random Hypersurface Model (RHM ) to model the object, then the target shape is expressed as parameter by radial function. Considering that using circle as a prior shape information requires a long filter consumption time, the RHM-CC-IOU-UKF algorithm proposed in this paper uses the center contour method to correct the prior shape information of the object, and then uses the Intersection over Union (IOU) method to improve the object tracking accuracy in the mutation case. The object estimation shape is updated when combined with a simple filtering algorithm. Eventually, the effectiveness of this algorithm is demonstrated by simulation experiments in two scenarios.