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In this paper, we propose a novel method for estimating an elliptic shapeapproximation of a moving extended object that gives rise to multiple scatteredmeasurements per frame. For this purpose, we parameterize the elliptic shapewith its orientation and the lengths of the semi-axes. We relate an individualmeasurement with the ellipse parameters by means of a multiplicative noisemodel and derive a second-order extended Kalman filter for a closed-formrecursive measurement update. The benefits of the new method are discussed bymeans of Monte Carlo simulations for both static and dynamic scenarios.

Second-Order Extended Kalman Filter for Extended Object and Group Tracking