An extended target tracking model with multiple random matrices and   unified kinematics
  This paper presents a model for tracking of extended targets, where each target is represented by a given number of elliptic subobjects. A gamma Gaussian inverse Wishart implementation is derived, and necessary approximations are suggested to alleviate the data association complexity. A simulation study shows the merits of the model compared to previous work on the topic. 
Karl Granstrom
cs.SY