This paper presents a joint detection and tracking filter for a single extended target in the presence of clutter measurements and missed detections. The filter is obtained by adapting the Poisson extended target model into the Bernoulli filter proposed by Mahler. The resulted filter is an optimal extended target joint detection and tracking filter. Predictor and corrector are derived follows the random set filtering framework. A particle filter implementation is presented, in which simplification methods are used to make it easy to be realized. Simulation results show that the proposed filter is effective at detection and tracking of extended target in dense clutter backgrounds.
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